Abstract
This paper presents the design of the electronics, the sensor data processing scheme and the implementation of the behaviour based control for a small autonomous underwater vehicle (AUV). The robot has a volume of 12dm3 and is used as a demonstration vehicle for underwater ai-technologies. The thruster configuration allows the μAUV to hover and its active light sensors enable obstacle detection abilities. The control features several behaviours like obstacle detection and depth sensor calibration and is completely autonomous. An ATMegal28 functions as onboard CPU and due to the limited computing power we use a special scheduling algorithm which also acts as the behaviour arbiter.
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References
Clarke, H. et al.: Design and Development of the AUV Harp. 3rd Annual International Autonomous Underwater Vehicle Competition, Orlando, (2000).
Navinda Kottege and Uwe R. Zimmer: Relative Localization for AUV swarms. Proceedings of the International Symposium on Underwater Technology, Tokyo, Japan, 2007
ATMegal28: Technical specification and datasheet. http://www.atmel.com/dyn/resources/prod_documents/doc2467.pdf
Jan Albiez: Verhaltensnetwerke zur adaptiven Steuerung biologisch motivierter Laufmaschinen Dissertationsschrift, GCA Verlag, Februar 2007
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© 2007 Springer-Verlag Berlin Heidelberg
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Albiez, J., Kerdels, J., Fechner, S., Kirchner, F. (2007). Sensor Proccessing and Behaviour Control of a Small AUV. In: Berns, K., Luksch, T. (eds) Autonome Mobile Systeme 2007. Informatik aktuell. Springer, Berlin, Heidelberg. https://doi.org/10.1007/978-3-540-74764-2_51
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DOI: https://doi.org/10.1007/978-3-540-74764-2_51
Publisher Name: Springer, Berlin, Heidelberg
Print ISBN: 978-3-540-74763-5
Online ISBN: 978-3-540-74764-2
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