Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023

TL;DR

Oogway is a newly designed AUV for RoboSub 2023 featuring advanced computer vision, sonar integration, and reliable subsystems, demonstrating successful rapid development and integration within two years.

Contribution

The paper details a comprehensive overhaul of an AUV with innovative subsystems and integration strategies for competitive underwater robotics.

Findings

Successful construction and testing within two years

Enhanced capabilities through subsystem integration

Effective use of sonar-assisted vision algorithms

Abstract

The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. 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 sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.