Agus Wiyono, Suparji, M.Z. Syariffuddien, Ir Fendi Achmad, Nur Luthfiatus Solikah, Achmad Akmal Fikri
AUDREY AUV represents an essential robotic technology designed for underwater exploration. The research and development of AUDREY involve multiple phases, including the design and fabrication of the vehicle’s body, integration of hardware components, and the creation of software to enable fully autonomous operation. The primary objective of AUDREY is to navigate underwater along a predefined path without human intervention, with a secondary capability of avoiding obstacles and retrieving metal objects from the pool floor using ferrite magnets. The system is equipped with a range of sensors, including pressure sensors, an Inertial Measurement Unit (IMU), an ultrasonic rangefinder, and cameras. Data from these sensors is combined using the Extended Kalman Filter (EKF) technique for improved accuracy. Control of the AUV is implemented using algorithms written in Python, utilizing DroneKit and Link libraries, and integrated with OpenCV for real-time image processing to support autonomous maneuvering. In testing, AUDREY achieved a maximum dive depth of 2 meters in a swimming pool and successfully transmitted live underwater video to a monitor. However, further development is required before this AUV can be deployed effectively in open-sea environments. ©2025 IEEE.
Dept. of Urban Planning, Surabaya State University, Surabaya, Indonesia; Dept. of Civil Engineering, Surabaya State University, Surabaya, Indonesia; Dept. of Science Education, Surabaya State University, Surabaya, Indonesia; Dept. of Electrical Engineering Education, Surabaya State University, Surabaya, Indonesia; Dept. of Physiotherapy, Surabaya State University, Surabaya, Indonesia; Graduate School of Science and Technology, Kumamoto University, Kumamoto, Japan
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