Abstract
Arya is an autonomous underwater vehicle (AUV) modeled and developed by team DTU-AUV comprising of undergraduate students from multidisciplinary backgrounds of Delhi Technological University (DTU), India, to participate in an IEEE backed Singapore AUV Challenge (SAUVC). This paper entails the rationale and methodology employed to design and integrate various systems onboard. Significant improvisations have been made in the structural design of the vehicle to enhance its hydrodynamic stability and maneuverability to perform discrete tasks in comparison to the previous vehicles developed by the team. The focus is laid on the embedded and power system to enhance reliability, modularity, and power distribution. The software stack is designed to run in decentralized multi-threaded agent architecture, with the threads handling pressure sensor, cameras, control system, IMU, mission planner each performing input and output operations in continuous loops. PID control algorithms achieve the desired dynamic control. The vision system is devised to monitor the marine environment and detect underwater contoured objects.
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