Technical Design Review of Duke Robotics Club's Oogway: An AUV for RoboSub 2024

TL;DR

This paper reviews the technical design and upgrades of Oogway, an autonomous underwater vehicle developed by Duke Robotics Club for the RoboSub 2024 competition, emphasizing subsystem integration and reliability.

Contribution

It presents a comprehensive design review of Oogway's upgraded subsystems, highlighting innovations in controls, electrical systems, sonar, and system integration for competitive performance.

Findings

Oogway prequalified for RoboSub 2024.

Significant improvements in subsystem reliability and integration.

Enhanced capabilities with new sensors and mechanisms.

Abstract

The Duke Robotics Club is proud to present our robot for the 2024 RoboSub Competition: Oogway. Now in its second year, Oogway has been dramatically upgraded in both its capabilities and reliability. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include a re-envisioned controls system, an entirely new electrical stack, advanced sonar integration, additional cameras and system monitoring, a new marker dropper, and a watertight capsule mechanism. These additions enabled Oogway to prequalify for Robosub 2024.