Development of an Open Architecture Controller for a Commercial AUV

AUVs are essential to reduce the difficulty in building up flexible exploring and working systems in the water. However it is hard to integrate sub-modules or control algorithms into an AUV because AUV makers have developed control architectures and communication protocols of their own. So we develop an open architecture for AUV controller that integrates ready-made sub-modules to a reconfigurable and fault tolerant AUV. And we apply this open architecture to the cruising AUV.