ORCA: AI-powered Autonomous Underwater Vehicle for Subaquatic Exploration

Oskar Natan; Wiwit Suryanto; Andi Dharmawan; Rifda Hakima Sari; Zaidan Hakim

doi:10.31436/iiumej.v27i1.3716

Authors

Oskar Natan Universitas Gadjah Mada https://orcid.org/0000-0003-3896-0448
Wiwit Suryanto Universitas Gadjah Mada
Andi Dharmawan Universitas Gadjah Mada https://orcid.org/0000-0002-5780-9869
Rifda Hakima Sari Universitas Gadjah Mada
Zaidan Hakim Universitas Gadjah Mada https://orcid.org/0009-0005-1633-6267

DOI:

https://doi.org/10.31436/iiumej.v27i1.3716

Keywords:

Robotics, Autonomous Robot Systems, Underwater Robot, Computer Vision, Navigational Control

Abstract

This paper presents research and development of an Autonomous Underwater Vehicle (AUV), named ORCA, to perform underwater missions independently without human intervention. ORCA plays a vital role in challenges that test robots' abilities in navigation, exploration, and interaction with the aquatic environment. Using advanced design tools, the AUV is meticulously designed in Inventor and manufactured via CNC machining, laser cutting, and 3D printing. We concentrate on the vehicle's design, manufacturing processes, control systems, PID controllers, and vision systems. Subsequently, the research and development effort is expanded to incorporate critical functionalities, including environmental perception, object detection, deep learning algorithms, and path-planning strategies. The culmination of this research has produced an AUV capable of autonomous underwater navigation, effective obstacle avoidance, efficient object detection, and precise payload manipulation using a gripper mechanism. ORCA has a comprehensive sensor suite comprising a BNO055 IMU, an MS5803-14BA pressure sensor for depth measurement, and a Logitech C525 camera for image processing. The system integration not only enhances the vehicle's operational capabilities but also represents a significant advancement in underwater robotics.

ABSTRAK: Kajian ini membentangkan penyelidikan dan pembangunan Kenderaan dalam Air Berautonomi (AUV) yang dikenali sebagai ORCA, dibangunkan bagi tujuan misi bawah air secara autonomi tanpa sebarang campur tangan manusia. ORCA memainkan peranan penting dalam menghadapi cabaran menguji kebolehan robot dalam aspek navigasi, penerokaan, serta interaksi dengan persekitaran akuatik. Dengan memanfaatkan alat reka bentuk yang canggih, AUV ini direka bentuk dengan teliti menggunakan perisian Inventor dan dihasilkan melalui teknik pemesinan CNC, pemotongan laser, dan percetakan 3D. Penekanan utama dalam penyelidikan ini adalah pada reka bentuk kenderaan, proses pembuatan, sistem kawalan, pengawal PID, serta sistem penglihatan. Selain itu, penyelidikan dan pembangunan ini turut diperluaskan bagi menyertakan fungsi-fungsi kritikal seperti persepsi persekitaran, pengesanan objek, algoritma pembelajaran mendalam, dan strategi perancangan laluan. Dapatan kajian ini telah menghasilkan AUV yang mampu melaksanakan navigasi bawah air secara autonomi, menghindari halangan dengan berkesan, mengesan objek dengan cekap, serta mengendali beban dengan tepat menggunakan mekanisme pemegang. ORCA dilengkapi dengan suit pengesan yang komprehensif, termasuk pengesan IMU BNO055, pengesan tekanan MS5803-14BA bagi pengukuran kedalaman, serta kamera Logitech C525 bagi pemprosesan visual. Integrasi sistem ini bukan sahaja meningkatkan keupayaan operasi kenderaan tetapi juga mewakili satu langkah penting dalam perkembangan robotik bawah air.

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