The Mini-AUV software stack leverages the ArduSub firmware and MAVROS for control and localization. This platform acts as a testbed for new sensors, allowing us to evaluate the durability and performance of the DWE underwater camera and our new A50 DVL.
Additionally, we decided to use the Pixhawk 6X flight controller with the ArduSub firmware for an integrated solution to the robot’s localization and controls.
Sensor Validation
For this iteration, we are trying out 2 new sensors. First, we have the Waterlinked A50, which is much lighter than the Teledyne Pathfinder on the BBAUV 4.5. A new external underwater camera, the DWE Explore HD 3.0 is also being evaluated. By testing these sensors in a competition environment, we hope to gather meaningful data and validate their ease of integration into an AUV system.
Simulations
To support development and validation, a simulation pipeline was established using the ArduSub architecture integrated with MAVROS for communication and control between the Pixhawk and Jetson. Additionally, the DVL can also be simulated using DAVE. This allows for comprehensive testing of algorithms within a simulated environment, streamlining our development work.