Bumblebee Robosub Journal 2015

Abstract

BumbleBee Autonomous Underwater Vehicle (BBAUV) is the product of a team of undergraduates from National University of Singapore (NUS). This vehicle is designed for two competitions: the RoboSub Competition and the Singapore AUV Challenge. The BumbleBee vehicle was fully modelled in CAD and fabricated with CNC machining, laser cutting and 3D printing. This year, Bumblebee has been improved with better machine vision cameras, more accurate navigation and imaging sonar integration for more robust computer vision. BumbleBees sensor suite includes a Doppler Velocity Log (DVL), an imaging sonar, a hydrophone array, an Inertial Measurement Unit, two machine vision cameras and a depth sensor. Its software architecture is built upon Robot Operating System (ROS) and the complex vision algorithms have been implemented in OpenCV.

 

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