Design and Experiments with LoCO AUV: A Low Cost Open-Source Autonomous Underwater Vehicle
Chelsey Edge,Sadman Sakib Enan,Michael Fulton,Jungseok Hong,Jiawei Mo,Kimberly Barthelemy,Hunter Bashaw,Berik Kallevig,Corey Knutson,Kevin Orpen,Junaed Sattar,Chelsey Edge,Sadman Sakib Enan,Michael Fulton,Jungseok Hong,Jiawei Mo,Kimberly Barthelemy,Hunter Bashaw,Berik Kallevig,Corey Knutson,Kevin Orpen,Junaed Sattar
In this paper we present the LoCO AUV, a Low-Cost, Open Autonomous Underwater Vehicle. LoCO is a general-purpose, single-person-deployable, vision-guided AUV, rated to a depth of 100 meters. We discuss the open and expandable design of this underwater robot, as well as the design of a simulator in Gazebo. Additionally, we explore the platform's preliminary local motion control and state estimation...
