Angel Ocean, Building and Design an Autonomous Underwater Vehicle

Behnam Alikhasi¹ Seyedmahdi Aledavoud² Amirhossein Payandeh³

1) Department of Physics, Frahnagian University, BSc Student Email:
2) Department of Physics, Frahnagian University, BSc Student Email:
3) Department of Physics, Frahnagian University, BSc Student Email:

Publication : The 4th International conference of Science and Engineering(4icesconf.com)
Abstract :
AUV Dolphin is an effort to create a basic autonomous underwater vehicle capable of obstacle avoidance and path planning. It started from 2010-2014 as a robotic team. The dimensions of the robot are about 65 cm* 15 cm *20 cm and weighs around 9 kg .It comprises of two compartments, one carrying a six syringe piston assembly as ballast system, and other one carrying all the electronic components. The bot is capable of performing heave and pitch motion (using the same ballast mechanism) and surge and yaw motion (using two propellers on the sides). A Li-Po battery powers the bot. Arduino MEGA single board microcontroller acts as the basic brain. A 10 dof IMU is being used for AHRS (Attitude and Heading Reference System). There are four motors, two controlling the pistons and two being used as propellers. Motor drivers control the propellers according to signals received. A good sensory system implementation still remains a job to be done. The paper describes various design features including mechanical, electrical and computational aspects.
Keywords : Robots Water Testing Battery Main Body Part