The MicroAUV2 of the DFKI is a small AUV with a complex thruster configuration and a Xilinx Virtex 4 FPGA as electronic heart.
My diploma thesis consists of two parts:
- The first one is the design and implementation of a System on Chip as basis for a controller
- The second one is the design, simulation and test of a suitable system model
A short overview over the systems hardware will be followed by the presentation of the already implemented SoC. The last part will cover the AUVs system model and the concept for the controller.