Bumblebee ASV 3.0

BBASV 3.0

Dimensions
4 m x 2.45 m x 3.3 m
Weight
450kg
Top Speed
5 knots
Degrees of Freedom
3 (Surge, Sway, Yaw)
Power System
Torqeedo Power 26-104 (x2)
Perception Sensors
Blackfly S Camera for 180° panoramic vision (x3)
Velodyne VLP-16 LIDAR for immediate collision avoidance
Ouster OS-1-64 LIDAR for crowded environment mapping
Wartsila RS24 Gen 4 Radar for long range collision avoidance and sea navigation
Manipulators
Drone Take off and Landing System
Ball Shooter
Wireless Communications
Control link – 2.4GHz N2420
Data link – 5.8GHz Ubiquity Rocket 5 AC Prism
RC Link – FrSky Taranis X9D+, FrSky X8R-II Receiver
Others
RGY Light Tower
Endurance
Full Throttle – 17km range, 1.6 hours runtime
Slow Throttle – 30km range, 8 hours runtime
Onboard Computer
Intel i7-12700, 32GB DDR5 RAM
NVIDIA RTX A2000
Propulsion System
Minn Kota RT80 Saltwater Transom-Mount Motor (x4)
Acoustics
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
SBG Ellipse-D (Miniature INS/GPS)
Sparton AHRS8 (Inertial Measurement Unit)
Odroid XU4 (Single Board Computer)
Raspberry Pi 3B+ (Single Board Computer)
Software Architecture
Robot Operating System (ROS)
Ubuntu Linux 18.04 LTS
Payload
Bumblebee Unmanned Aerial Vehicle 1.0
Drone Take off and Landing System

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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