AUV
"AGASTYA 1.0"
Team Nirma AUV's Autonomous Underwater Vehicle
SAUVC.mp4Every year the team participates in the AMUROVc which is a competition where different teams across India come to participate. We were ranked 3rd in the AMUROVc 2022 competition and 1st across the nation in AMUROVc 2023.
The team has also participated in the Singapore Autonomous Underwater Vehicle Challenge in 2023 and was ranked 7th.
This version of the vehicle is equipped with an MPU (Jetson Tx2), a GoPro Hero 10, a 9-Axis IMU, and a Bar 30 sensor.
The robot is able to move underwater autonomously and has 6 Degrees of freedom. It uses the base system as Ubuntu and has ROS running on it. It uses data collected from the above-mentioned sensors and moves accordingly. The mechanical body of the robot and the software+electronic (softronics) stack is developed in-house at Nirma University, Ahmedabad, India.
The robot performs simple tasks like detecting a red bouy and a bootlegger and then respective tasks are given to avoid/hit them.
Images and video feeds are enhanced to detect the red color and then do the corresponding task. Furthermore, template matching and feature extraction methods are used to detect the bootlegger and avoid it.
The video below shows one more task where the qualifying gate is detected and the robot passes through it.
ROV.mp4