Design And Implementation Of Autonomous Underwater Vehicle Software System Based On MOOS

The technology of Autonomous Underwater Vehicle (AUV) has achieved an impressive development in the past decades. AUV is playing more and more important role in many tasks such as marine resource exploration, hydrology environment monitoring, ocean engineering construction, seafood farming and marine military defense. In nowadays, AUV is gradually used in large scale of the ocean. Due to the complex environments, it is highly required of the stability and reliability of software system designed for AUV.The key point for the AUV platform lines in the software controlling system. Player2.0, MOOS, CARM EN, JAUS, ROS, RDS, LCM are mainly used for underwater robot platform at home and abroad. MOOS was designed and developed based on a common set of modular and distributed software systems for underwater vehicles, which can be used to solve the traditional issues, for example, weak independence and strong coupling. When coming to modular and distributed design, MOOS platform has a unified standard interface for re-development and extension.The purpose of this paper aims to present a special software system, which can be used to perform real-time control of AUV. Based on MOOS, this AUV’s software controlling system can be divided into four levels:the task layer, dec is ion-making layer, controlling layer and the execution layer.There are mainly three structures, including controller system structure, hardware system and software system, and all of them are worked out on the basis of hierarchical software system. This paper introduced the platform of MOOS and message communication mechanism. Besides, it also carried out AUV’s software controlling system based on MOOSDB. Meanwhile, this paper focused on AUV’s communication system, data acquisition system, shore-based control platform and the motion controlling system. Apart from what have mentioned above, this paper introduced the development procedure of the client program in multi-sensors data acquisition system. The skill of multiple thread process, serial communication, Socket communication, ridium satellite communication and PID algorithm are used on AUV’s software system in order to improve the stability and accuracy of it.This software system is commonly used for the reason that AUV can be equipped with different sensor modules per various tasks, and through using unified software interface to encapsulate the program convenient.