Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies

摘要

The increase in the availability of low-cost components has made it possible to design and implement new and innovative devices for the underwater robotics. Today, cost-effective and open solutions can be created to replace previous expensive and proprietary robot systems. This study presents the prototype of an autonomous underwater vehicle. The system was built using commonly available sensor components in combination with an open source code and in-house designed parts. The configuration of the autonomous underwater vehicle is introduced in this study. The results obtained from the component tests performed in the actual operating environment are presented. Based on these tests, the subsystems were found to be well-suited for underwater environment.