Design and Development of AUDI'S AUV as an Underwater Robot Prototype

AUDI'S AUV is a robot technology that is very necessary for underwater exploration. AUDI'S AUV research includes various stages starting from body manufacturing design and hardware development, to software development to control and operate the AUV autonomously. AUDI'S has the main mission to maneuver autonomously underwater along a predetermined path and an additional mission in the form of the ability to maneuver past obstacles and then retrieve metal objects at the bottom of the pool using ferrite magnets. AUDI'S AUV uses various sensors such as pressure sensors, IMU (Inertial Measurement Unit), Ultrasonic Rangefinder, and cameras. All sensor data is processed using data fusion via the EKF (Extended Kalman Filter) method. AUV control uses a Python language programming algorithm and uses the Drone kit and link libraries which are integrated with OpenCV image processing so that it can maneuver underwater autonomously. This robot research obtained the results of the deepest dive, namely 2 meters in a swimming pool and displayed the results of observations in the water in the form of video which was displayed directly on the monitor. This underwater robot still requires some development so that it can be used in the sea.