Iterative Software Design for an Autonomous Underwater Vehicle with Novel Propulsion Capabilities and Vision-Based Object Tracking

We present ongoing work on developing autonomy software for an Autonomous Underwater Vehicle (AUV) equipped with Asymmetric Propulsion. Asymmetric Propulsion uses a single-bladed propeller controlled by a single motor to provide thrust as well as steering for a streamlined AUV. The iterative approach to software development we present allows electrical and mechanical validation of the vehicle’s design in parallel to evolving software capabilities. We discuss the value of operator interfaces and obstacles to accelerated computing in robotics.

I. Introduction

Autonomous Underwater Vehicles (AUVs) are reshaping the way that researchers study the oceans. At the core of every AUV is its propulsion system, connecting the output of its decision-making algorithms with its mechanical ability to move through and interact with its environment. For any mechanical system exposed to the harsh environment of the ocean, reliability is critical to success, and simplicity breeds reliability. Asymmetric Propulsion is an exciting advancement in AUV propulsion because of its simplicity, providing all of an AUV’s required thrust and maneuverability from a single electric motor and obviating the need for fins or additional steering mechanisms.