Control Architecture for AUV-150: A Systems Approach.

The aim of this paper remains to introduce the various design and runtime aspects of a state-of-the-art control architecture adopted for the development of an autonomous underwater vehicle (AUV-150), capable of operating up to a depth of 150 meters to perform sea-bed mapping and collecting oceanographic data. The system control architecture has been presented as an ensemble of both hardware and software modules organized in a well-connected framework for effective operation. Various specifications, harnessing layout and design issues have been discussed in this paper. [ABSTRACT FROM AUTHOR]