A Study on the Effectiveness of MOOS-IvP for Unmanned Surface Vehicle

Abstract

This paper explores the effectiveness of MOOS-IvP middleware for Unmanned Surface Vehicles(USV). As unmanned technology evolves, various functions are required to carry out some missions. Also, as the USVs have more sensors, the complexityof data sharing is increasing. A good solution to deal with this is middleware. The MOOS-IvP is a C++ based open source publish-subscribe middleware. It consists of two components. First one is MOOSDB which acts as a server. The other is MOOS application which acts as a client. Each applications corresponds to a sensor or an algorithm module. This paper presents a brief overview of MOOS-IvP, and examines the effectiveness with a case study for acquisition of sensors data. The case study results show that MOOS-IvP can be beneficial for developing a application software for USV.