From market-ready ROVs to low-cost AUVs

Jonatan Scharff Willners, Ignacio Carlucho, Sean Katagiri, Chandler Lemoine, Joshua Roe, Dylan Stephens, Tomasz Luczynski, Shida Xu, Yaniel Carreno, Eric Pairet, Corina Barbalata, Yvan Petillot, Sen Wang

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of AUVs restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end AUV. In this article, we present how a low-cost commercial-off-the-shelf ROV can be used as a foundation for developing versatile and affordable AUVs. We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.

Original languageEnglish
Title of host publicationOCEANS 2021
Subtitle of host publicationSan Diego - Porto
PublisherIEEE
ISBN (Electronic)9780692935590
DOIs
Publication statusPublished - 15 Feb 2022
EventOCEANS 2021: San Diego - Porto - San Diego, United States
Duration: 20 Sep 202123 Sep 2021

Conference

ConferenceOCEANS 2021: San Diego - Porto
Country/TerritoryUnited States
CitySan Diego
Period20/09/2123/09/21

Keywords

  • Autonomous Underwater Vehicle
  • Autonomy
  • Hardware
  • Remotely Operated Vehicle
  • Robot Operating System
  • Underwater Manipulation

ASJC Scopus subject areas

  • Oceanography

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