Underwater Robotics: Challenges and Solutions

The development of an autonomous unmanned vehicle (AUV) presents both significant challenges and considerable benefits. This paper examines the issues encountered and the solutions implemented during the design and construction of the AUV, focusing specifically on the Kalypso robotic vehicle, which was developed for the inspection of fish farm nets. Kalypso is capable of detecting both overgrown and damaged nets through the application of advanced algorithms [1]. The robot is also equipped with a range of sensors that monitor key parameters, such as water ingress within the waterproof case, as well as its location, depth, temperature, and potential leaks. The waterproof section of the robot contains cables and connectors, some of which are detachable, allowing for the connection of various devices, including sensors and lights. Kalypso features two cameras, one positioned at the front and the other at the bottom, to provide comprehensive visual coverage. Additionally, the AUV is equipped with an underwater ultrasonic sensor that measures the distance to objects in its environment and an LED light at the front to enhance visibility in low-light conditions. A series of tests were conducted to assess the vehicle's performance in both aquaculture net environments and open-sea conditions.