AUV design. Hardware and Software Architecture

被引：3

作者：

Martinez, Alain ^{[1
,2
]}

Rodriguez, Yidier ^{[1
]}

Hernandez, Luis ^{[1
]}

Guerra, Carlos ^{[1
]}

Lemus, Jorge ^{[1
]}

Sahli, Hichem ^{[2
]}

机构：

[1] Univ Cent Marta Abreu Las Villas UCLV, Fac Ingn Elect, Dept Automat & Sistemas Computac, Grp Automatizac Robot & Percepc, Carretera Camajuani Km 5 1-2, Santa Clara 54830, Villa Clara, Cuba

[2] Vrije Univ Brussel, Dept Elect & Informat ETRO, B-1050 Brussels, Belgium

来源：

REVISTA IBEROAMERICANA DE AUTOMATICA E INFORMATICA INDUSTRIAL | 2013年 / 10卷 / 03期

关键词：

AUV; hardware architecture; software architecture; AUTONOMOUS UNDERWATER VEHICLE;

D O I：

10.1016/j.riai.2013.04.004

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

This paper discusses the strategy under which were conceived the hardware and software architecture for autonomous vehicle prototype: HRC-AUV, and the selection of the fundamental elements that compose them. The obtained design weights simplicity and development in terms of low cost, factors useful to researchers begin their activity in this field. The paper summarizes the benefits provided by these structures and preliminary operational tests that have been submitted to demonstrate the validity of their use in the operation of an AUV. Likewise are linearized dynamic models of the plant, used in the tuning of the control loops are presented. The response of such loops and in general the HRC-AUV navigating in the ocean is presented through the results of several experimental tests.

引用

页码：333 / 343

页数：11

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