Just wanted to post some details about my recent engineering senior design project. Our project’s goal was to create and test a subsea resident AUV. The “subsea resident” title means the AUV is accompanied with a dock where it can recharge and upload data, essentially allowing it to stay underwater indefinitely.
The AUV has 6 BR T200s, in a 5 DoF thruster configuration. Its about 2 feet in width and length and weighs nearly 20kg in air. The AUV localizes itself in our test tank using computer vision, since acoustic solutions were far too expensive.
Some more interesting features:
- Custom FOC motor controllers.
- Compact 24 cell battery system.
- 3 Raspberry Pi Zero camera modules.
- Support for wireless charging at up to 100W.
- Over 25 unique mechanical pieces, all cut using a hobby CNC machine.
I’ve attached links to three videos; a detailed presentation our team gave, a full video showing an autonomous undocking and redocking mission, and our “demo” video, which gives a broader context to the subsea resident concept.
Happy to discuss any more aspects of the project in depth! Hopefully this is good inspiration for anyone looking to work on their own AUV or underwater vehicle project.