An Autonomous Vehicle Development for Submarine Observation

Abstract

This work proposes the development of a low-cost ocean observation vehicle. This vehicle, a hybrid between Autonomous Underwater Vehicles (AUV ) and Autonomous Surface Vehicles (ASV) moves on the surface of the sea and makes vertical immersions to obtain profiles of a water column according to a pre-established plan. Its design means production costs are low and efficiency is increased. Also, the vehicle is able to make high resolution space and time measurements simultaneously. GPS navigation allows the platform to move along the surface of the water while a radio-modem provides direct communication links and telemetry. The vehicle measures 1885 mm by 320 mm wide. It weighs 76 kg. It navigates at a speed of 1.5 m/s at 80% at full propulsion power and reaches a maximum depth of 20 m. It is a vehicle of electrical propulsion with an autonomy of 3-5 hours. This work outlines the mechanical and electronic design of the vehicle, as well as considerations for navigational and immersion experiments.