Design of Affordable Hybrid Underwater Vehicle Platform using ArduSub & Robot Operating System (ROS) for Marine Robotics Research

Ismail, Walid M.; Hassan, Amgad E.; Abdelhady, Nermeen M.; Hassan, Noureldin A.; Maged, Shady A.; Abdulhasieb, Hosam M.

doi:10.21608/iugrc.2021.245578

Design of Affordable Hybrid Underwater Vehicle Platform using ArduSub & Robot Operating System (ROS) for Marine Robotics Research

Document Type : Original Article

Authors

¹ Arab Academy for Science, Technology & Maritime Transport, Egypt.

² Ain Shams University, Egypt.

10.21608/iugrc.2021.245578

Abstract

In the maritime world, operations are divided into two categories: inspection, and action. this paper discusses the development of a hybrid underwater vehicle (HUWV) that combines the features of autonomous under-water vehicles (AUV) and remotely operated vehicles (ROV) for inspection. The vehicle can be used for marine robotics research and is configured with multiple sensors and cameras to employ simultaneous localization and mapping (SLAM) technology. The vehicle is assembled from off-the-shelf components and fabricated using common machining methods. The vehicle is designed for use across several sectors, including underwater research, environmental assessment. When running the vehicle in autonomous mode, missions are operated using artificial intelligence (AI) control, taking feedback from available sensors on board. Additionally, the vehicle runs ArduSub linked to Robot Operating System (ROS) using MAVROS, enabling the vehicle to be piloted and tested using software-in-loop modelling with open-source software Gazebo & RViz. We provide the steps and design files required to manufacture, operate, and develop such vehicle.

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