HAL-urabo: A kit AUV for competition and outreach

摘要

This paper introduces the underwater robot HAL-urabo. HAL-urabo is a hovering type autonomous underwater vehicle (AUV) designed to take part in competitions, and to develop a functional, low-cost AUV kit, with fully documented physical and electrical design and an open source code. The vehicle has a length of 0.83m and weighs 11 kg, with a maximum depth rating of 10 m The concept behind the development of the vehicle is that a person without expert knowledge of ocean engineering could purchase the necessary components, and build an AUV for a budget of around USS3,000.