Bio-Inspired Underwater Autonomous Vehicle

Objective

Development of a Biomimetic Autonomous Underwater Vehicle whose design is based on Tuna Fish capable of underwater surveillance. Designed the electronics for the system, creating ROS package for ROS-based communication. Designing a Rule Based Dynamic Thresholding Fault Detection (RBDTFD) algorithm for fault detection and control algorithm for Orientation control.

Developed under the guidance of Dr. Asokan Thondiyath, IIT Madras

Tech Stack

  • Jetson Nano
  • ROS
  • Non-Linear Control
  • Embedded circuit & PCB Design

    • Prototype

    Confidential

    Control System

    Designed and Simulated the control algorithm for moving the bot in circular trajectory