The development of the modular Hard- and Software Architecture of the Autonomous Underwater Vehicle MONSUN

Konferenz: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
02.06.2014 - 03.06.2014 in München, Germany

Tagungsband: ISR / Robotik 2014

Seiten: 6Sprache: EnglischTyp: PDF

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Meyer, Benjamin; Ehlers, Kristian; Isokeit, Cedric; Maehle, Erik (University of Luebeck, Institute of Computer Engineering, Germany)

This paper presents the development of the new hard- and software architecture of the Autonomous Underwater Vehicle MONSUN, designed to perform underwater environmental monitoring and inspection tasks in a swarm. The design concept is based on modularity and robustness, augmented with a powerful embedded controller and a ROS-based software architecture, enabling a large number of different tasks.