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ICTINEUAUV wins the First SAUC-E competition

A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot’s core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry

© IEEE International Conference on Robotics and Automation, 2007, p. 151-156

IEEE

Author: Ribas Romagós, David
Palomeras Rovira, Narcís
Ridao Rodríguez, Pere
Carreras Pérez, Marc
Hernàndez Bes, Emili
Date: 2007
Abstract: A pioneer team of students of the University of Girona decided to design and develop an autonomous underwater vehicle (AUV) called ICTINEU-AUV to face the Student Autonomous Underwater Challenge-Europe (SAUC-E). The prototype has evolved from the initial computer aided design (CAD) model to become an operative AUV in the short period of seven months. The open frame and modular design principles together with the compatibility with other robots previously developed at the lab have provided the main design philosophy. Hence, at the robot’s core, two networked computers give access to a wide set of sensors and actuators. The Gentoo/Linux distribution was chosen as the onboard operating system. A software architecture based on a set of distributed objects with soft real time capabilities was developed and a hybrid control architecture including mission control, a behavioural layer and a robust map-based localization algorithm made ICTINEU-AUV the winning entry
Format: application/pdf
Citation: Ribas, D., Palomeras, N., Ridao, P., Carreras, M., i Hernandez, E. (2007). ICTINEUAUV Wins the First SAUC-E Competition. IEEE International Conference on Robotics and Automation : 2007, 151-156. Recuperat 14 maig 2010, a http://ieeexplore.ieee.org/stamp/stamp.jsp?tp=&arnumber=4209084
ISBN: 1-4244-0601-3
ISSN: 1050-4729
Document access: http://hdl.handle.net/10256/2295
Language: eng
Publisher: IEEE
Collection: Reproducció digital del document publicat a: http://dx.doi.org/10.1109/ROBOT.2007.363779
Articles publicats (D-ATC)
Is part of: © IEEE International Conference on Robotics and Automation, 2007, p. 151-156
Rights: Tots els drets reservats
Subject: Robots autònoms -- Sistemes de control
Robots -- Projectes i construcció
Vehicles submergibles -- Sistemes de control
Autonomous robots -- Control systems
Robots -- Design and construction
Submersibles -- Control systems
Title: ICTINEUAUV wins the First SAUC-E competition
Type: info:eu-repo/semantics/article
Repository: DUGiDocs

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