N3-AUV (Nusantara 3-Autonomous Underwater Vehicle): design and implementation for underwater exploration

Abstract

Abstract Autonomous Underwater Vehicle (AUV) is a type of underwater robot that can move and perform pre-assigned the missions based on a program which is installed in the microprocessor in the body of the vehicle. AUV uses thrusters to maneuver underwater and may be supported by a compass, various sensors, and a camera that are attached to the vehicle. In this paper, we present the development of N3-AUV and a pool test of this performance. N3-AUV uses 8 thrusters, 2 webcam cameras, Raspberry Pi, a depth sensor, and a compass. The vehicle has a torpedo-like shape so that it is easier to move underwater relatively faster. With 2 webcam cameras, where the first one is placed under the frame to record images of the conditions beneath the vehicle and the second one is placed in front of the frame to record the conditions in front of the vehicle. A pool test was conducted by means of pre-assigning missions, such as navigating pass the goal post, and finding and knocking down an underwater object. N3-AUV can complete three mission of four. Missions that have been carried out successfully are navigation, acquisition, and localization. N3-AUV has a maximum speed of about 1 m/s.