Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
| Autor: | Kimberly Barthelemy, Berik Kallevig, Corey Knutson, Sadman Sakib Enan, Hunter Bashaw, Jungseok Hong, Junaed Sattar, Michael Fulton, Jiawei Mo, Kevin Orpen, Chelsey Edge |
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| Rok vydání: | 2020 |
| Předmět: |
FOS: Computer and information sciences
0209 industrial biotechnology 010505 oceanography Computer science Real-time computing 02 engineering and technology Motion control 01 natural sciences Variety (cybernetics) Computer Science - Robotics 020901 industrial engineering & automation Underwater vehicle Open source Task analysis Robot State (computer science) Robotics (cs.RO) 0105 earth and related environmental sciences |
| Zdroj: | IROS |
| DOI: | 10.48550/arxiv.2003.09041 |
| Popis: | In this paper we present LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation abilities, which enable it to perform maneuvers autonomously. In order to demonstrate its usefulness for a variety of tasks, we implement a variety of our previously presented human-robot interaction capabilities on LoCO, including gestural control, diver following, and robot communication via motion. Finally, we discuss the practical concerns of deployment and our experiences in using this robot in pools, lakes, and the ocean. All design details, instructions on assembly, and code will be released under a permissive, open-source license. Comment: 13 pages, 11 figures |
| Databáze: | OpenAIRE |
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