Development of the Pirajuba AUV

Ettore A. De Barros; Luciano O. Freire; João L.D. Dantas

doi:10.3182/20100915-3-DE-3008.00063

Development of the Pirajuba AUV

Ettore A. De Barros^*, Luciano O. Freire, João L.D. Dantas

^*Corresponding author for this work

Naval Architecture, Ocean And Marine Engineering

Research output: Contribution to journal › Conference Contribution › peer-review

4 Citations (Scopus)

Abstract

This work introduces the Pirajuba vehicle, an autonomous underwater vehicle that has been developed at the University of Sao Paulo. The paper describes its main systems, emphasizing hardware and software control architectures. The embedded system is low cost and based on off-the-shelf components, and on free and largely known software tools, like C language, and GNU compiler. Results of preliminary tests in a swimming pool are also presented, demonstrating the real-time operation of the AUV.

Original language	English
Pages (from-to)	102-107
Number of pages	6
Journal	IFAC Proceedings Volumes
Volume	43
Issue number	20
DOIs	https://doi.org/10.3182/20100915-3-DE-3008.00063
Publication status	Published - 30 Sept 2010

Funding

* This work has been funded by FAPESP from São Paulo State under the research project number 09/10205-3.

Keywords

AUV
CAN
control architecture
real-time
underwater vehicles
autonomous underwater vehicle (AUV)
hardware
marine robotics
Pirajuba project

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10.3182/20100915-3-DE-3008.00063

Cite this

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title = "Development of the Pirajuba AUV",

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N2 - This work introduces the Pirajuba vehicle, an autonomous underwater vehicle that has been developed at the University of Sao Paulo. The paper describes its main systems, emphasizing hardware and software control architectures. The embedded system is low cost and based on off-the-shelf components, and on free and largely known software tools, like C language, and GNU compiler. Results of preliminary tests in a swimming pool are also presented, demonstrating the real-time operation of the AUV.

AB - This work introduces the Pirajuba vehicle, an autonomous underwater vehicle that has been developed at the University of Sao Paulo. The paper describes its main systems, emphasizing hardware and software control architectures. The embedded system is low cost and based on off-the-shelf components, and on free and largely known software tools, like C language, and GNU compiler. Results of preliminary tests in a swimming pool are also presented, demonstrating the real-time operation of the AUV.

KW - AUV

KW - CAN

KW - control architecture

KW - real-time

KW - underwater vehicles

KW - autonomous underwater vehicle (AUV)

KW - hardware

KW - marine robotics

KW - Pirajuba project

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Development of the Pirajuba AUV

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Keywords

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