System Design and Integration for Exploration Mission on Autonomous Underwater Glider

摘要

Ganesh Blue Underwater Glider is an autonomous underwater vehicle that moves by changing its buoyancy and attitude to perform gliding movement. To perform a maritime exploration mission, integration between vehicle, control station, and website is required. Ganesh Blue Underwater Glider consists of several subsystems which handle algorithm, actuator control, communications, and sensor reading while the control station manages and monitors mission execution and also acts as a connector between Ganesh Blue Underwater Glider and website. This paper focuses on designing architecture and integration between Ganesh Blue Underwater Glider, Ground Control Station, and website. By separating high-level and low-level processes, the designed system able to complete sensor data acquisition module with average time 333 ms and standard deviation of 8.188 ms. Navigation, guidance, and guidance module is completed from 7.428 ms to 16.532 ms with an average of 10.687 ms.