Design And Construction Of A small Scale Underwater Vehicle With Obstacle Avoidance System

Chong, Ze Ming Bryan (2015) Design And Construction Of A small Scale Underwater Vehicle With Obstacle Avoidance System. Project Report. UTeM, Melaka, Malaysia. (Submitted)

Text Design And Construction Of A Small Scale Underwater Vehicle With Obstacle Avoidance System 24 Pages.pdf - Submitted Version Download (1MB)

Abstract

This report is about the Final Year Project for the development and analysis of a small scale Autonomous Underwater Vehicle (AUV) with obstacle avoidance system. AUV need to be in miniature size to ease the mobility of the AUV when it performs missions. Besides, obstacle avoidance system is preferable to be implemented in an AUV because obstacle is unpredictable in deep sea and collision might happen without this system. To develop an AUV, materials and components used have to be well considered. The sensors, motors and the hull of the AUV need to be completely watertight. Meanwhile, algorithm for obstacle avoidance and depth control mechanism need to be designed and improved to yield better outcomes. The purpose of this Final Year Project is to design and develop a low cost AUV in miniature size with obstacle avoidance system. Another objective is to analyse the performance of underwater sensors on obstacle detection and distance measurement. Up to date, the hardware and software development has been completed. Total 6 experiments have been conducted. Experiment 1 and 2 has been conducted to test the functionality of the micro-controller and DC motor. Experiment 5 also has been conducted to test light detection of common blue LED. In addition, Experiment 3, 4 and 6 have been conducted to test the functionality of Ultrasonic, Infrared and Laser sensors on distance measurement in air and underwater environment. Based on the analysis in experiments, DC brush less motor is functional in tap water even though it is not watertight. Besides, results showed blue LED can function as spectral selective detector, which is sensitive to light wavelength from 380nm to 500nm. Furthermore, analysis demonstrated 405nm Laser sensor is a better sensor among others for short range obstacle detection in underwater environment, which can detect obstacle effectively up to 80cm. Standard deviation and root-mean-squared error has been calculated for all results to examine the accuracy and consistency. As a result, all data collected in the experiments were considered accurate.

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