The development of the modular Hard- and Software Architecture of the Autonomous Underwater Vehicle MONSUN
Conference: ISR/Robotik 2014 - 45th International Symposium on Robotics; 8th German Conference on Robotics
06/02/2014 - 06/03/2014 at München, Germany
Proceedings: ISR/Robotik 2014
Pages: 6Language: englishTyp: PDF
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Authors:
Meyer, Benjamin; Ehlers, Kristian; Isokeit, Cedric; Maehle, Erik (University of Luebeck, Institute of Computer Engineering, Germany)
Abstract:
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.