Abstract
Usually, a rough software architecture designed for a robot can be can be shortly presented in the form of layers. The lowest layer is responsible for direct control of the hardware, i.e. engines, energy system, sensors, navigation devices, etc. A next layer is a low–level control which knows how to use the hardware in order to achieve a desired state of the robot, e.g. to stay on a desired course. And the last layer, the layer which is the nearest to the human–operator, is a high–level control which decides how to use the low–level control and sometimes also individual pieces of the hardware to achieve predefined objectives. The paper describes architecture, tasks and operation of the high–level control system (HLCS) designed for Biomimetic Autonomous Underwater Vehicle (BAUV).
Highlights
Robots are usually a combination of many different devices, sensors, engines, in other words, each robot consists of different sorts of the hardware
Vector Nav VN200 inertial navigational system (INS), used by many robots to orientate in the environment, has the software integrated with the device which communicates via RS232 and allows all external users to configure it and to read all navigational data provided by it
Biomimetic Autonomous Underwater Vehicle (BAUV) [1, 6, 7] is a type of robot which is able to operate under the water, which is autonomous meaning that it is capable of performing some missions independently of a human–operator, and which is biomimetic, that is, it mimics appearance and behavior of living organisms, to certain extend
Summary
Robots are usually a combination of many different devices, sensors, engines, in other words, each robot consists of different sorts of the hardware. The lowest level is responsible for direct control of the hardware, each device, sensor, battery, engine has a dedicated software which provides the interface required to control it via a definite communication protocol. Biomimetic Autonomous Underwater Vehicle (BAUV) [1, 6, 7] is a type of robot which is able to operate under the water, which is autonomous meaning that it is capable of performing some missions independently of a human–operator, and which is biomimetic, that is, it mimics appearance and behavior of living organisms, to certain extend. The autonomy of the BAUV entails the necessity of equipping the vehicle with the HLCS which is responsible for: executing orders of the operator in remotely operated mode, providing selected information to the operator, performing a mission defined by the operator, mapping, detecting emergency situations and responding to them. The remaining part of the paper is organized as follows: section 2 is an outline of the BAUV, section 3 is a description of the HLCS architecture and its operation in the form of algorithms, and the final section is a summary
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