Design and Development of Underwater Vehicle: ANAHITA

TL;DR

This paper presents the design and development of Anahita, an autonomous underwater vehicle created by IIT Kanpur students to facilitate research and participate in competitions, featuring modularity, advanced sensors, and hot-swappable batteries.

Contribution

The paper introduces a redesigned AUV with improved modularity, power management, and sensor integration, tailored for research and competitive use.

Findings

Enhanced modular design for easier maintenance

Increased operational runtime with hot-swappable batteries

Integration of advanced sensors for improved navigation

Abstract

Anahita is an autonomous underwater vehicle which is currently being developed by interdisciplinary team of students at Indian Institute of Technology(IIT) Kanpur with aim to provide a platform for research in AUV to undergraduate students. This is the second vehicle which is being designed by AUV-IITK team to participate in 6th NIOT-SAVe competition organized by the National Institute of Ocean Technology, Chennai. The Vehicle has been completely redesigned with the major improvements in modularity and ease of access of all the components, keeping the design very compact and efficient. New advancements in the vehicle include, power distribution system and monitoring system. The sensors include the inertial measurement units (IMU), hydrophone array, a depth sensor, and two RGB cameras. The current vehicle features hot swappable battery pods giving a huge advantage over the previous vehicle, for longer runtime.