Iterative Software Design for an Autonomous Underwater Vehicle with Novel Propulsion Capabilities and Vision-Based Object Tracking

We present ongoing work on developing autonomy software for an Autonomous Underwater Vehicle (AUV) equipped with Asymmetric Propulsion. Asymmetric Propulsion uses a single-bladed propeller controlled by a single motor to provide thrust as well as steering for a streamlined AUV. The iterative approach to software development we present allows electrical and mechanical validation of the vehicle’s design in parallel to evolving software capabilities. We discuss the value of operator interfaces and obstacles to accelerated computing in robotics.