Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions

Show simple item record West, Michael E. Novitzky, Michael Varnell, Jesse P. Melim, Andrew Sequin, Evan Toler, Tedd C. Collins, Tomas R. Bogle, John R. 2011-05-16T15:18:23Z 2011-05-16T15:18:23Z 2010
dc.description.abstract Georgia Tech Research Institute (GTRI) has developed the Yellowfin, a small man-portable Unmanned Underwater Vehicle (UUV). The mission for Yellowfin is to conduct autonomous collaborative operations. The multi-UUV design allows for a much wider swath of the ocean to be observed and monitored, while collaborative operations allow multiple aspects of a mission to be tackled with distributed systems. Both oceanographic and military missions are aided tremendously by the use of such a UUV network. This paper introduces the modular and flexible design of the Yellowfin system and describes some of the technologies integrated within the system construct. The system and software architectures of Yellowfin leverage COTS technologies, including software whose foundation is MOOS-IvP, expanded to include several aspects of autonomy, communication with the WHOI acoustics modem utilizing the JAUS message standard, mission planning using MissionLab, mission execution via Falcon- ViewTM , front seat control with a microcontroller, and visualization with the Blender open-source, cross-platform suite of tools for 3D graphics. en_US
dc.language.iso en_US en_US
dc.publisher Georgia Institute of Technology en_US
dc.subject Underwater vehicles en_US
dc.subject Unmanned underwater vehicles en_US
dc.subject Autonomous operation en_US
dc.title Design and Development of the Yellowfin UUV for Homogenous Collaborative Missions en_US
dc.type Paper en_US
dc.contributor.corporatename Georgia Institute of Technology. Center for Robotics and Intelligent Machines
dc.contributor.corporatename Georgia Tech Research Institute

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