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Bumblebee Autonomous Underwater Vehicle 4.0

Vehicle’s Dimensions

Length : 0.61 m
Breadth : 0.51 m
Width : 0.35 m

Mass of Vehicle

24 kg in Air

Top Speed

1.5 m/s

Degrees of Freedom

6 (Surge, Sway, Heave, Roll, Pitch, Yaw)

Single Board Computer Model

Intel Core i7-7600
16GB DDR4 RAM
512GB NVMe SSD

Embedded Systems (Acoustics)

Rasbperry Pi 3B+
Custom designed DAQ

Propulsion System

BlueRobotics T200 Thrusters (x7)

Navigation Components

Teledyne RDI Pathfinder DVL
Sparton AHRS-8 IMU
BlueRobotics Pressure/Depth Sensor

Vision Equipment

1 FLIR BFS-PGE314SC-C Camera (Foward Facing)
1 FLIR BFS-PGE314SC-C Camera (Downwards Facing)

Sonar

BlueView Subsea M750d Dual-Frequency Multibeam Sonar

Manipulators

Custom designed electrically actuated torpedo launcher

Power System

14.8V 16000mAh LiPo Battery (x2)

Underwater Connectors

Subconn Micro and Low Profile Series
Blue Robotics Penetrators

Software Architecture

Robot Operating System (ROS)
Ubuntu 18.04 LTS

Mechanical System

Electrical Architecture

Software Architecture

Robosub Journal Paper - Our Design and Implementation