12 May 2016 Software architecture of biomimetic underwater vehicle
Author Affiliations +
Abstract
Autonomous underwater vehicles are vehicles that are entirely or partly independent of human decisions. In order to obtain operational independence, the vehicles have to be equipped with a specialized software. The main task of the software is to move the vehicle along a trajectory with collision avoidance. Moreover, the software has also to manage different devices installed on the vehicle board, e.g. to start and stop cameras, sonars etc. In addition to the software embedded on the vehicle board, the software responsible for managing the vehicle by the operator is also necessary. Its task is to define mission of the vehicle, to start, to stop the mission, to send emergency commands, to monitor vehicle parameters, and to control the vehicle in remotely operated mode. An important objective of the software is also to support development and tests of other software components. To this end, a simulation environment is necessary, i.e. simulation model of the vehicle and all its key devices, the model of the sea environment, and the software to visualize behavior of the vehicle. The paper presents architecture of the software designed for biomimetic autonomous underwater vehicle (BAUV) that is being constructed within the framework of the scientific project financed by Polish National Center of Research and Development.
© (2016) COPYRIGHT Society of Photo-Optical Instrumentation Engineers (SPIE). Downloading of the abstract is permitted for personal use only.
Tomasz Praczyk, Tomasz Praczyk, Piotr Szymak, Piotr Szymak, } "Software architecture of biomimetic underwater vehicle", Proc. SPIE 9831, Ground/Air Multisensor Interoperability, Integration, and Networking for Persistent ISR VII, 98310K (12 May 2016); doi: 10.1117/12.2225871; https://doi.org/10.1117/12.2225871
PROCEEDINGS
8 PAGES


SHARE
Back to Top