choosing sensors on a budget for underwatar slam for an auv

Maritime Robotics
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To put it simply, there are so many sensors available for navigation (thankfully). My idea is to build an AUV that can localize, map, and navigate in real time while simultaneously building a full 3D model of the environment. The AUV would also utilize AI to operate autonomously based on continuous changes and improvements in the 3D environment.

I know something like this has already been made, but underwater navigation options are somewhat limited. The best choices are, unfortunately, beyond my budget. This makes it crucial for me to carefully select every component I buy and ensure it serves my purpose effectively.

Here’s what I have in mind:

  • Pixhawk for control (I’m already an expert with this).
  • DVL (Doppler Velocity Log) for velocity measurements and odometry.
  • Depth sensor to measure water pressure and depth.
  • Stereo camera for 3D vision and mapping.
  • imu for loacalization

After researching, I thought this combination would be enough for my goal. However, I discovered there were challenges caused by waves, movement, and other factors.

My ultimate goal is to create a system that works in a pool, lake, or similar environments, particularly those with complex features.

For now, is my sensor selection good? Is it enough? What else do you suggest?

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Hi

Sound really great your idea!!!

I have some suggestions about your project:

  1. If you want to test and move in a pool. The DVL is too much, and depends of your budget because it is so expensive.
  2. Depth sensor is a barometer, that compare the hydrostatic pressure with a atmospheric pressure and calculate the depth. It is possible that you know this project: https://www.ardusub.com/ Check it, works fine on a Pixhawk.
  3. The vision in underwater enviroments depends a lot of light. If you wan to work in deeper enviroments maybe you could need flashlights.
  4. How your work is in a minimal space (pool), with the IMU integrated in Pixhawk is enought.

If you want to know more than the current work in this area, I suggest you subscribe to updates about this community (Maritime Robotics) There are meetings and There are a lot of people working together to create nice projects.

I hope this helps you,

JuanS.

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