Bumblebee Robosub Journal 2016

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: AUVSI Robosub Competition and the Singapore AUV Challenge. The Bumblebee 3.0 vehicle was fully modelled in CAD and fabricated with CNC machining, laser cutting and 3D printing. This year the vehicle features many improvements such as a more streamlined mechanical structure, reliable and fault tolerant electrical system as well as more accurate navigation. Sensor fusion between the imaging sonar and the fron-camera was implemented to fascilitate better object tracking and recognition. Bumblebee 3.0’s sensor suite includes a Doppler Velocity Log (DVL), an active imaging sonar, hydrophone array, inertial measurement units and two machine vision cameras. The software architecture is based on Linux, with Robot Operating System (ROS) framework as middleware.

 

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