Design of a general autonomy payload for low-cost AUV R&D

Advances in computer hardware and sensing technologies have enabled the design and development of low-cost autonomous underwater vehicles (AUVs). The reduced cost of new platforms such as the Bluefin SandShark present the opportunity for more frequent and high-risk AUV-based experiments and reduce the barrier to entry for multi-vehicle operations. The smaller size of these new vehicles compared to AUV platforms typically used for ocean exploration also makes deployment and operations possible in accessible smaller bodies of water such as lakes and rivers. However, the limited payload space and power availability of these platforms constrains the types of sensors that may be installed, demanding a compromise between operating range, mission duration, and sensor use. This paper describes the design of a standard payload for low-cost AUVs based on these constraints, and the implementation of that payload for autonomy, acoustic and environmental research in stand-alone configuration and on a Bluefin SandShark AUV.