Development of a new operating system software for a hovering-type autonomous underwater vehicle HOBALIN

摘要

A new operating system software for a hovering-type AUV (Autonomous Underwater Vehicle) was developed. The new system is targeted to an AUV named “HOBALIN”, developed in 2015 and already in use with an older operating system. The new system is based on ROS (Robot Operating System) and was completely redesigned from the older version. The replacement was intended to make the AUV capable to introduce newer technologies and make clean with software licenses and older codes. In this paper, the structure, the features and the design ideas of the new system are described.