Design of an Autonomous Underwater Vehicle EDYSYS 1

摘要

An Autonomous Underwater Vehicle (AUV) is an underwater robot that can operate in six degrees of freedom (6DOF) thereby carrying out preplanned missions via its propulsion and navigation systems which are controlled by an onboard computer. This paper describes the design of an Autonomous Underwater Vehicle, EDYSYS 1. The AUV was first modeled in SolidWorks and thereafter navigation capabilities were tested in a simulation environment using A* algorithm and Robot Operating System (ROS) platform in Unity 3-D game engine. The design for the mechanical, electronics, control and communication subsystems are described as well as operation states.