AUV ARIEL: Computer-Vision-Driven Intervention Processed on a Small Single-Board Computer

Abstract

ARIEL, a newly developed small-sized, low-cost, and modulus hovering type autonomous underwater vehicle, is designed to perform computer-vision-driven intervention tasks on a small single-board computer. The working prototype has demonstrated an underwater intervention mission and proved a functional system at the Underwater Robot Convention in JAMSTEC 2021. In the experiment trials, ARIEL performed the mission in the testing water tank. ARIEL is a reference design of an AUV for lightweight shoreline intervention tasks.