Kingfisher – 2020

Vehicle’s Dimensions

  • Length: 39 in
  • Width: 21 in
  • Height: 14 in

Mass of Vehicle

  • 25 kg

Top Speed

  • 0.75 m/s

Degrees of Freedom

  • 6 [roll, pitch, yaw]

Primary Compute

  • NVIDIA AGX Xavier

Propulsion System

  • 8x Blue Robotics T200 Thrusters

Navigation Components

  • Teledyne Pathfinder DVL
  • XSens MTi-200-VRU IMU
  • Blue Robotics Depth Sensor

Vision Equipiment

  • 2x ZED Mini Stereo Camera

Sonar

  • Blue Robotics Ping 360

Manipulators

  • Blue Trail Engineering waterproof servo
  • Sequenced marker dropper (2x golf ball)
  • 2x pneumatic torpedo shooter
  • Servo actuated gripper

Power System

  • 14.8 V 4s 16Ah Lipo Battery

Underwater Connectors

  • Subconn 8-pin Ethernet Connectors
  • Blue Trail Engineering Cobalt Connnectors

Software Architecture

  • Robot Operating System (ROS)
  • Ubuntu 18.04 LTS
  • Gazebo + UUV Simulator
  • C++, Python, and MATLAB