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Abstract(s)
O Veículo de Sup erfície Escola Naval (VentSupEN) é um pro jeto do Centro
de Investigação Naval (CINAV) que visa a construção de um Veículo Não Tripulado de Sup erfície (Unmanned Surface Vehicle, USV), capaz de op erar em qualquer
ambiente marítimo.
O VentSupEN terá atuadores (motores) e diversos sensores tanto para recolha de dados ambientais como para indicar a sua p osição. Os referidos sensores
necessitam de tro car dados entre si. Para tal, é necessário um canal de comunica-
ção (Middleware) entre o sistema op erativo e as aplicaçõ es que interligam diferentes
subsistemas comp ostos p or sensores e atuadores.
O presente estudo ap oia-se em três ob jetivos principais: i. estudo dos Middlewares desenvolvidos p ela comunidade internacional; ii. prop or uma arquitetura
de software; iii. desenvolver drivers para os sensores existentes no veículo.
Assim, foram realizados estudos sobre diversos Middlewares, p or forma a
identificar qual seria o mais adequado a instalar no computador de b ordo, com recurso a uma ab ordagem teórica. De seguida, é prop osta a arquitetura de software
com base nos sensores existentes, b em como outros sensores estudados em disserta-
çõ es relacionadas com o desenvolvimento do veículo. Como prova de conceito foram
desenvolvidos mó dulos para os drivers de sistema de lo calização global (Global Position System, GPS), unidade de medida inercial (Inertial Measurement Unit, IMU)
e para o sistema de comunicação. Ap ós implementação, realizaram-se testes que
consistem em: comunicação com a estação de comando e controlo (C2), gestão do
planeamento e do estado dos sensores.
The Naval Scho ol Surface Vehicle (VentSupEN) is a pro ject of the Naval Research Center (CINAV) that aims to build a Unmanned Surface Vehicle (USV), capable of op erating in any maritime environment. The VentSupEN will have actuators (motors) and several sensors b oth for environmental data collection and to indicate its p osition. These sensors need to exchange data with each other. This requires a communication channel (Middleware) b etween the op erating system and the applications that interconnect different subsystems comp osed of sensors and actuators. The present study is based on three main ob jectives: i. study of the Middleware develop ed by the international community; ii. prop ose a software architecture; iii. develop drivers for sensors in the vehicle. Thus, studies were carried out on several Middleware, in order to identify which would b e the most suitable to install on the on-b oard computer, using a theoretical approach. From b elow, the software architecture is prop osed based on the existing sensors, as well as other sensors studied in dissertations related to the development of the vehicle. As pro of of concept mo dules have b een develop ed for the Global Position System (GPS), Inertial Measurement Unit (IMU) drivers and for the communication system. After implementation, they were carried out consisting of: communication with the command and control (C2) station, management of planning and state of the sensors.
The Naval Scho ol Surface Vehicle (VentSupEN) is a pro ject of the Naval Research Center (CINAV) that aims to build a Unmanned Surface Vehicle (USV), capable of op erating in any maritime environment. The VentSupEN will have actuators (motors) and several sensors b oth for environmental data collection and to indicate its p osition. These sensors need to exchange data with each other. This requires a communication channel (Middleware) b etween the op erating system and the applications that interconnect different subsystems comp osed of sensors and actuators. The present study is based on three main ob jectives: i. study of the Middleware develop ed by the international community; ii. prop ose a software architecture; iii. develop drivers for sensors in the vehicle. Thus, studies were carried out on several Middleware, in order to identify which would b e the most suitable to install on the on-b oard computer, using a theoretical approach. From b elow, the software architecture is prop osed based on the existing sensors, as well as other sensors studied in dissertations related to the development of the vehicle. As pro of of concept mo dules have b een develop ed for the Global Position System (GPS), Inertial Measurement Unit (IMU) drivers and for the communication system. After implementation, they were carried out consisting of: communication with the command and control (C2) station, management of planning and state of the sensors.
Description
Keywords
Middleware ROS VentSupEN USV