| Penulis/Author |
Oskar Natan, S.ST., M.Tr.T., Ph.D. (1) ; Dr.rer.nat. Wiwit Suryanto, S.Si., M.Si. (2); Dr. Andi Dharmawan, S.Si., M.Cs. (3); RIFDA HAKIMA SARI (4); Zaidan Hakim (5) |
| Abstrak/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. |
