Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks

Christoph Osterloh; Marek Litza; Erik Maehle

doi:10.1007/978-3-642-01213-6_31

Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks

Christoph Osterloh, Marek Litza, Erik Maehle

Institute of Computer Engineering

Abstract

This paper presents the design of the hardware and software architecture, the selected sensors, sensor data processing and first experimental results for a small autonomous underwater vehicle (AUV). The robot was designed as an inexpensive autonomous platform for collecting environmental data in inshore and coastal waters, stand-alone or in swarms. The utilised thrusters allow the AUV a high range of speed, and its light sensor and echo sounder a detection of obstacles. A microcontroller is used as the main processing unit. The software is distributed over specialised tasks scheduled by a small Real Time Multitasking Kernel. Based on the integrated sensors an avoid and submergence behavior are presented.

Original language	English
Pages	347-356
DOIs	https://doi.org/10.1007/978-3-642-01213-6_31
Publication status	Published - 01.01.2009
Event	2009 German Workshop on Robotics - Braunschweig, Germany Duration: 09.06.2009 → 10.06.2009 Conference number: 104233

Conference

Conference	2009 German Workshop on Robotics
Country/Territory	Germany
City	Braunschweig
Period	09.06.09 → 10.06.09

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10.1007/978-3-642-01213-6_31

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Hard- and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring Tasks

Abstract

Conference

UN SDGs

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