There has recently been a notable increase in interest in submarine robotics and more precisely in autonomous underwater vehicles (AUVs). The cost of such vehicles is generally high and therefore, safety, defined as the ability of being able to physically retrieve the AUV if an emergency situation arises, should be one of the main concerns in the design of such systems. We propose a hardware architecture, based on the field bus Controller Area Network (CAN), that specifically addresses the safety issues by using a special node which monitors the potentially hazardous situations in the underwater vehicle and reacts accordingly. The design of such node is vital and therefore internal redundancy is added to prevent a nondetected internal error from jeopardizing the safety of the system. The safety of the system is increased at a marginal cost by having the critical functions which relate to the retrieval of the AUV in a single node made of Components Off The Shelf (COTS).


    Access

    Access via TIB

    Check availability in my library

    Order at Subito €


    Export, share and cite



    Title :

    A cost-effective hardware architecture for fail-safe autonomous underwater vehicles


    Contributors:
    Proenza, J. (author) / Ortiz, A. (author) / Bernat, G. (author) / Oliver, G. (author)


    Publication date :

    1999


    Size :

    4 Seiten, 10 Quellen




    Type of media :

    Conference paper


    Type of material :

    Print


    Language :

    English




    Fail-safe motion planning of autonomous vehicles

    Magdici, Silvia / Althoff, Matthias | IEEE | 2016


    LiDAR-Based Fail-Safe Emergency Maneuver for Autonomous Vehicles

    Alzu'bi, Hamzeh / Varasquim, Juliano / Alrousan, Qusay et al. | SAE Technical Papers | 2023


    LiDAR-Based Fail-Safe Emergency Maneuver for Autonomous Vehicles

    Alrousan, Qusay / Alzu'bi, Hamzeh / Tasky, Tom et al. | British Library Conference Proceedings | 2023



    Modular hardware infrastructure for autonomous underwater vehicles

    Wang, I. / Factor, B. / Fladung, S. et al. | Tema Archive | 2005