Hybrid Underwater Robot System Based on ROS

Abstract

Underwater Robots play an important role in a number of shallow and deep-water missions. In recent years, Underwater Robots system design has been an active field of engineering researches. This paper proposes new system design for underwater vehicles combining the best features of both ROV (remotely operated vehicle) and AUV (autonomous underwater vehicle) technologies. The system based on ROS platform and Ardupilot software is equipped with two types of navigation system setup (autonomous navigation and teleoperation navigation) capable of realizing precise motion control, navigating while performing SLAM (Simultaneous Localization and Mapping) path-planning and obstacles avoidance.