Recently, I have been working on a very interesting project, consisting in the design and development of an Autonomous Underwater Vehicle (AUV) for participating in the Students AUV Challenge – Europe held in La Spezia (Italy) at NATO Undersea Research Centre (NURC). We are a team composed of 8 students from different areas (Computer Science, Telecommunications, Electronics, Naval Engineering), in which I have the great honor of being the team leader and lead developer. The name of the AUV (and the team) is AVORA, which means Autonomous Vehicle for Operation and Research in Aquatic Environments, it was intentionally picked as a reference to an ancient deity from the Canary Islands.
The goal of the competition is to perform a series of tasks autonomously, without external information sources and within a fixed time frame, although this time frame is sufficiently large. Taking into account the broad spectrum of missions an AUV can accomplish, we can see that each of the tasks tries to emulate situations that arise in real life, in a limited fashion. The tasks are:
- Passing through a validation gate constructed of 2 orange buoys on a rope, 4 meters apart.
- Performing an underwater structure inspection. This underwater structure is basically a pipeline of cylinders.
- Searching and informing another autonomous vehicle about a mid-water target.
- Surveying a wall.
- Tracking and following a moving ASV.
- Surfacing in the surface zone.
- Impressing the judges! In this task, the teams are encouraged to be creative and demonstrate interesting features about their vehicles.
As one can see, completing all of these tasks requires certain type of sensors such as a sonar, cameras, depth and pressure sensors, inertial measurement units, etc, and also a great amount of hard work and time. Our AUV is on its way, since it is our first time, the vehicle has to be constructed from the ground up and it is not an easy job preventing water from getting inside everything.
Another problem with not having the vehicle constructed from the beginning is that most of the work has to be done with each sensor alone and that artificial datasets have to be created in order to fine tune the algorithms. Some of the algorithms require large amounts of data so as to validate them, in such cases we are trying to use datasets provided by others, non-related to the competition. But as I say, being the first time it’s difficult to know what to expect.
From now on I will try to post regularly about our progress. Wish us luck!