Autonomous Underwater Vehicle (ROV)

Project Overview

Designed and built for the National Robotics Competition, this ROV demonstrates advanced underwater maneuverability and object manipulation. The system features a custom-designed watertight enclosure and a modular frame enabling rapid field repairs.

The vehicle operates via a fiber-optic tether for high-bandwidth video streaming and low-latency control. It utilizes a Pixhawk flight controller running ArduSub for stabilization, while a companion Raspberry Pi handles computer vision tasks and gripper control.

Key Features

• 6-DOF stabilization using PID control loops
• Real-time HD video streaming via tether
• Custom 3D-printed hydraulic gripper mechanism
• Computer vision for autonomous target tracking
• Leak detection and auto-surface failsafes
• Custom ground control station interface
• Modular thruster configuration

Technical Challenges

Achieving neutral buoyancy was critical; we developed a custom ballast system using lead weights and high-density foam. Waterproofing the electronics required a dual-seal design for the main acrylic enclosure.

Latency over the 50m tether was minimized using UDP streaming and optimized video compression, reducing glass-to-glass latency to under 150ms.