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Diseño de AUV. Arquitectura de hardware y software
Martínez, A.; Rodriguez, Y.; Hernández, L.; Guerra, C.; Lemus, J.; Sahli, H. (2013). Diseño de AUV. Arquitectura de hardware y software. Revista Iberoamericana de Automatica e Informatica Industrial 10(3): 333-343. https://dx.doi.org/10.1016/j.riai.2013.04.004
In: Revista Iberoamericana de Automatica e Informatica Industrial: Valencia. ISSN 1697-7912; e-ISSN 1697-7920
Peer reviewed article  
Beschikbaar in  Auteurs 
Author keywords
    AUV; hardware architecture; software architecture
Auteurs  Top 
  • Martínez, A.
  • Rodriguez, Y.
  • Hernández, L.
  • Guerra, C.
  • Lemus, J.
  • Sahli, H.
Abstract
    This paper discusses the strategy under which were conceived the hardware and software architecture for autonomous vehicle prototype: HRC-AUV, and the selection of the fundamental elements that compose them. The obtained design weights simplicity and development in terms of low cost, factors useful to researchers begin their activity in this field. The paper summarizes the benefits provided by these structures and preliminary operational tests that have been submitted to demonstrate the validity of their use in the operation of an AUV. Likewise are linearized dynamic models of the plant, used in the tuning of the control loops are presented. The response of such loops and in general the HRC-AUV navigating in the ocean is presented through the results of several experimental tests.
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