Design and Implementation of a Multifunctional Autonomous Underwater Vehicle

Currently, as an important tool for exploring and developing the ocean, underwater robots have achieved rapid development at China and abroad. However, due to factors such as technology and cost, the development of small autonomous vehicles in the field of underwater surveying and mapping is relatively slow. The writer proposes a multifunctional autonomous underwater vehicle, which is an intelligent high-level system based on AUV and integrating intelligent perception, autonomous navigation, and fusion decision-making. Through the optimization design of mechanical structure, the high flexibility and stability of autonomous vehicle navigation have been improved. Through effective data fusion of underwater binocular camera, depth sensor, IMU, and single beam sonar sensor, the dynamic positioning control of autonomous vehicle has been achieved, ultimately achieving a low-cost, high-precision, and high-performance multi-functional underwater autonomous vehicle.