MACÁBOT: Prototipo de Vehículo Autónomo de Superficie (ASV)

In this article the design and construction decisions of a mobile autonomous robot that navigates in water surface, known as autonomous underwater vehicle (ASV), are presented. It was almost totally developed and assembled in the laboratories of INTELYMEC-CIFICEN, Universidad Nacional del Centro de la Prov. de Buenos Aires, Argentina in cooperation with a national enterprise interested in its commercialization. This prototype called MACABOT has been successfully tested in calm waters. From the standpoint of R+D it will be employed as an experimental platform for new algorithms and underwater technology. Its mechanical construction, the low level electronic designs as well as its software architecture is explained. Wet trials are also presented with further discussion about them.