Development of a low-cost autonomous surface vehicle using MOOS-IvP
Paper i proceeding, 2016

This paper describes the implementation of a low-
cost Autonomous Surface Vehicle (ASV) using a behavior-based software, the MOOS-IvP. The platform used is a catamaran boat driven by two direct current motors as the propulsion system. It is embedded with a processing board with an Arduino microcontroller, a low-cost Inertial Measurement Unit (IMU) with accelerometers, gyroscopes and magnetometers, a GPS receiver and a wireless RF serial modem. The ASV commu- nicates with a Ground Control Station (GCS) sending telemetry data and receiving navigation commands for the propulsion motors. The GCS uses the MOOS-IvP software to implement the autonomous navigation procedures and the GPS/Compass/IMU sensor fusion algorithm. Simulation and experimental results in real conditions are presented and discussed. The experimental and simulation results consist of path following missions in the presence of virtual obstacles. Index


Extended Kalman Filter

Sensor Fusion

Autonomous Navigation

Autonomous Surface Vehicle


David Issa Mattos

Software Engineering for People, Architecture, Requirements and Traceability

Douglas Soares dos Santos

Instituto Tecnológico de Aeronáutica (ITA)

Cairo Lucio Nascimento Jr

Instituto Tecnológico de Aeronáutica (ITA)

IEEE Systems Conference (SysCon)

978-1-4673-9519-9 (ISBN)

Annual IEEE Systems Conference (SysCon)
Orlando, USA,


Inbäddad systemteknik

Robotteknik och automation

Annan elektroteknik och elektronik



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