Bumblebee ASV 2.0


ASV only – 340kg
ASV with LARS and AUV payload – 425kg
Top Speed
5 knots
Degrees of Freedom
3 (Surge, Sway, Yaw)
Power System
High-performance lithium battery 2,685 Wh (x2)
Perception Sensors
Blackfly S Camera for 180° panoramic vision (x3)
SICK LD-MRS LIDAR for immediate collision avoidance
Velodyne VLP-16 LIDAR for crowded environment mapping
Quantum Radar for long range collision avoidance and sea navigation
Launch and Recovery System for AUV
Wireless Communications
Control link – 2.4GHz Xbee based on Digimesh
Remote Kill link – 2.4GHz Xbee based on Digimesh
Data link – 5.8GHz Ubiquity Rocket 5 AC Prism
RC Link – FrSky Taranis X9D+, FrSky X8R-II Receiver
RGY Light Tower
4 m x 2.45 m x 3.3 m
Full Throttle – 17km range, 1.6 hours runtime
Slow Throttle – 30km range, 8 hours runtime
Single Board Computer Model
32GB DDR4 RAM, Intel i7-6700TE
NVidia GTX1050Ti
Propulsion System
Minn Kota RT80 Saltwater Transom-Mount Motor (x4)
Hydrophone array based on Teledyne Reson TC4013 hydrophones
NI9223 Analog input module
NI sbRIO-9606 400MHz controller with Xilinx Spartan-6 LX45 FPGA
High resolution Multiple Signal Classification algorithm for DOA calculation
Navigation System
Eclipse2-N (Miniature INS/GPS)
Sparton AHRS8 (Inertial Measurement Unit)
Odroid XU4 (Single Board Computer)
Software Architecture
Robot Operating System (ROS)
Ubuntu Linux 16.04 LTS
Bumblebee Autonomous Underwater Vehicle 3.5
Launch and Recovery System complete with telescopic arm and winch

Mechanical System

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Electrical Architecture

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Software Architecture

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RobotX Journal Paper - Our Design and Implementation

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