Abstract
Recently, as increasing demands of taking care of complex missions, robot software architecture has been focused on the provision of an effective development environment. In this paper, we describe some issues regarding software architecture for an underwater robot, in particular, a middleware. It has been popular because it provides a well-structured, unified and proven environment for a development. First, we summarized concept and requirements for a robot middleware with some names of well-known service robot middleware. Then, additional requirements for an underwater robot are addressed and recent cases of underwater robot software architecture are presented. Actually, there are limited time and budget for a development of software architecture, unless it is a goal. Considering this, two practical approaches are proposed; (1) using an open source software platform like MOOS-IvP, (2) using a simple but effective software structure, proposed for implementing mid-level intelligent algorithms. Under this streatgy, yShark2, a test-bed underwater robot developed by KIOST, is operated for developing various algorithms such as sensing, decision making, and controlling, and ready to move to MOOS-IvP.
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