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

4 Citations (Scopus)

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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This output contributes to the following UN Sustainable Development Goals (SDGs)

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

Cite this

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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.",

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AU - Litza, Marek

AU - Maehle, Erik

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N2 - 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.

AB - 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.

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Y2 - 9 June 2009 through 10 June 2009

ER -

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

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UN SDGs

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