Fundamental design of an autonomous underwater vehicle with sonar-based SLAM

Abstract

Demand for AUVs has been on the rise. This report covers the overall system design of an AUV with the target of participating in the Singapore AUV Challenge 2020. This paper has been written in collaboration with Ng Wei Quan who is also writing a paper, titled Fundamental design of an autonomous underwater vehicle with camera-based object detection, which has been cited in areas where necessary. This paper will focus on the design of an internal Electronics tray for the AUV, electronic component selection, Control Logic and software architecture based in ROS specifically focused on multi SONAR SLAM. The SONAR SLAM was performed using the costmap_2d algorithm with a range_sensor_layer plugin. The paper ended with a functional prototype, AUV which is capable of performing most of the tasks for the Singapore AUV Challenge.