A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm

This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by University Calabria), an autonomous surface vehicle (ASV) developed at Systems Lab (LASA) Department Computer Science, Modeling, Electronics, Engineering (DIMES), Calabria. The basic project was born as a research program in marine robotics with multiple applications, either sea or lake/river environments, for data monitoring, search rescue operations diver support tasks. Mechanical hardware designs are discussed considering three-degree-of-freedom (3DoF) dynamical model vehicle. An extension to typical guidance, navigation, control (GNC) software architecture is presented. manager module (M-GNC architecture) that allows autonomously coordinate missions described. Indeed, guidance movement only one several more complex tasks mobile robots have perform real scenario allow long-term life cycle. Module-based using Robot Operating System (ROS) framework suitable different kinds vehicles, such aerial, ground, underwater drones.