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Aura
Newly built AUV designed for autonomous movement and modularity. Integrated YOLOv8 for vision, a Doppler Velocity Log for underwater positioning, upgraded claw and torpedo systems, and behavior tree mission planning on a BlueROV2 frame with an NVIDIA Jetson Nano.
Competition Video
At a glance
Specifications
- Onboard computer
- NVIDIA Jetson Nano
- Flight controller
- Pixhawk PX4
- Via MAVROS / MAVLink
- Frame
- Blue Robotics BlueROV2
- Navigation
- Doppler Velocity Log (DVL)
- Replaced sonar after IMU-only results were poor
- Vision
- YOLOv8
- With OpenCV
- Mission planning
- Behavior tree
- BehaviorTree.CPP on ROS
- Design tools
- Onshape + SimScale
- CAD and simulation of components
- Team
- 20 students
Design
Highlights
Built for modularity
Aura was designed to handle the basics of autonomous movement and to be easy to upgrade in later seasons.
DVL navigation
After weighing the complexity of sonar and talking with other teams, we added a DVL. It became essential because the IMU alone gave mediocre results.
Upgraded tools
Upgraded claw and torpedo systems over Sea++, with components iterated in Onshape and SimScale.
PID + power boards
A PID controller adjusts thruster PWM from sensor feedback, powered through our first custom power distribution boards.