| Hard and Software Architecture of a Small Autonomous Underwater Vehicle for Environmental Monitoring |
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Christoph Osterloh, Marek Litza, and Erik Maehle Institute of Computer Engineering, University of Luebeck, Ratzeburger Allee 160, 23538 Luebeck
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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