Open-Source Modular μAUV for Cooperative Missions

This paper examines the results of work undertaken by Saint-Petersburg State Marine Technical University (SMTU) as part of a project involving research into the creation of a multi-agent sensory network based on marine robotic platforms (MRP). In the context of the works mentioned, creation of a micro autonomous underwater vehicle (mu AUV) is considered. High maneuverability, the availability of a modular architecture and functions of the group use are required for the developed mu AUV. The article describes steps of the vehicle creation: concept development, modeling, design, construction, simulation of the implementation of various vehicle group mission scenarios (Solving the task of monitoring the seabed area). A standard chassis which allows the assembly of all systems, units and mechanisms of the device in minimum dimensions, has been established. Within the project, a software and hardware architecture of the information system of the vehicle was developed, as well as a model of interaction between the mu AUV, the wave glider and control center. The work results in two full-scale experimental samples of mu AUV capable of working in a group together with the wave gliders, performing the functions of a repeater signal through the environmental boundary, and simulation results of implementing the mission by a group of developed mu AUV.