Bumblebee AUV 4.0

BBAUV 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)
Raspberry 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
FLIR BFS-PGE314SC-C Camera (Forward Facing)
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

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Electrical Architecture

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Software Architecture

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Robosub Journal Paper - Our Design and Implementation

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