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首页> 外文会议>10th Annual Conference of Mechatronics and Machine Vision in Practice (M~2VIP 2003); Dec 9-11, 2003; Australia >A Modular Architecture for an Underwater Robotic Vehicle
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A Modular Architecture for an Underwater Robotic Vehicle

机译：水下机器人车辆的模块化架构

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摘要

This paper presents a modular underwater robotic vehicle (URV) architecture design, optimized for rapid customization to suit changes in mission requirements. The goal was to implement a flexible modular re-configurable architecture for a semi-autonomous inspection class URV. Aspects of modularity were applied to both hardware and software subsystems in the form of a self-contained power and controller pod design. The current semi-autonomous configuration has two pods. The sensor pod houses the primary navigation system and its main sensors, and the actuator pod hosts the main controller. The actuator pod receives motion commands from the surface and controls the various thruster and camera subsystems. Software modularity was built on the QNX4.25 real-time operating system, exploiting its modular multi-controller, multi-process capabilities. By grouping hardware and its complementary software into 'self contained' modules or pods, changes in URV specification could be implemented with relative ease, from a simple eyeball configuration to a light intervention semi-autonomous hybrid URV. This novel "plug-and-play" implementation detracts from the traditional customized configurations adopted by both industrial and research URVs.
机译：本文介绍了模块化水下机器人车辆（URV）架构设计，该架构针对快速定制​​进行了优化，以适应任务要求的变化。目标是为半自主检查类URV实现灵活的模块化可重新配置架构。模块化方面以自包含电源和控制器盒设计的形式应用于硬件和软件子系统。当前的半自治配置具有两个Pod。传感器盒容纳主要导航系统及其主要传感器，执行器盒容纳主控制器。执行器吊舱从地面接收运动命令，并控制各种推进器和摄像机子系统。软件模块化是建立在QNX4.25实时操作系统之上的，它利用了其模块化的多控制器，多进程功能。通过将硬件及其补充软件分组到“自包含”模块或吊舱中，可以相对轻松地实现URV规范的更改，从简单的眼球配置到轻型干预半自主混合URV。这种新颖的“即插即用”实现方式有损于工业和研究型URV所采用的传统定制配置。

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