The BeagleBone Black

BeagleBone Black (BBB), is the single-board computer used in Level 2. With a 1GHz ARM-based CPU and two rows of GPIO (general purpose Input/Output) pins mounted along both sides of the board, BBB is well suited to be used as an embedded system. The two 46 pin headers allows a wide range sensors and other hardware components to connect these pins allowing them to communicate with the BBB.

DUNE and the CAS (Collision Avoidance System) software is executed on the BeagleBone, that runs GLUED (GNU/Linux Uniform Environment Distribution). DUNE (DUNE Uniform Navigation Environment) is responsible for communications, navigation, control, maneuvering, plan execution and vehicle supervision, and also every interaction with sensors, actuators and payload. The open-source software developed by the Underwater System and Technology Laboratory (LSTS) is used as the toolchain.

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