Blue Duck II: A low-cost AUV design based on a moving mass for shallow-water operations

Abstract

Our main goal is the development of a shallow water AUV (up to 10m depth) with the goal of being semi-modular, easy to build, with as many parts as possible 3D printable, easy to modify based on needs, and low cost. We tried to focus on using standard structural materials, and try to keep the design as simple as possible, while respecting the requirements set above. It can be used for marine research at low depths, but also for teaching and educational activities in marine robotics.