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Model-driven analysis and design for software development of autonomous underwater vehicles

Published online by Cambridge University Press:  29 April 2014

Francisco J. Ortiz,
Carlos C. Insaurralde,
Diego Alonso,
Francisco Sánchez and
Yvan R. Petillot
Francisco J. Ortiz*
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Carlos C. Insaurralde
Affiliation:
Institute of Sensors, Signals and Systems, Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK
Diego Alonso
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Francisco Sánchez
Affiliation:
Universidad Politécnica de Cartagena, División de Sistemas e Ingeniería Electrónica. Cartagena, E-30202, Spain
Yvan R. Petillot
Affiliation:
Institute of Sensors, Signals and Systems, Ocean Systems Laboratory, Heriot-Watt University, Edinburgh, UK
*
*Corresponding author. E-mail: francisco.ortiz@upct.es
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Summary

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Software engineering plays a key role in state-of-the-art robotics where more effective and efficient software development solutions are needed for implementation and integration of advanced robotics capabilities. Component-based software engineering and model-driven software development are two paradigms suitable to deal with such challenges. This paper presents the analysis, design, and implementation of control software for an Autonomous Underwater Vehicle (AUV). The software development stages are carried out by using a model-driven toolchain that provides support to design and build component-based software for robotics applications. A case study of a high-performance AUV control application and experimental results from a software schedulability analysis are presented.

Keywords

Model-driven software developmentComponent-oriented software architectureDesign analysisAutonomous underwater vehicles

Information

Type
Articles
Information
Robotica , Volume 33 , Issue 8 , October 2015, pp. 1731 - 1750
Copyright
Copyright © Cambridge University Press 2014 

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