V-Dolphin AVS

Software Family for Amethyst AUV Platform

working with Raspberry Pi and Arduinos


NOW IN ALMOST READY ALFA

Vector Dolphin is modular software family for almost any autonomous vehicle or station. Is primary developed for Amethyst AUV Platform, but can be easily adapted for any other robotic craft. V-Dolphin using power of Linux/Python based microcomputer like Raspberry Pi ZERO and reliability of Arduino/Wiring microcontrollers. Those two worlds in combination creates almost endless possibilities for connecting of motors, servos, antennas, sensors of various kinds, modifications, brands or communication protocols.

How it works with Amethyst AUV


1. ALFA SCRIPT

Brain of Vector Dolphin System. Python3 program running by Raspberry Pi ZERO. Computing all autonomy navigation upon sensors data. Processing camera output.

2. RADIO MODULE

Arduino Wiring sketch. Keeping radio connection with shore base. Can be auto switch off when submerged.

3. MOTORS MODULE

Arduino Wiring sketch. With Arduino Pro Mini controll up to 6 motors or servos in any needed combination. With Arduino MEGA up to 10 motors or servos in combinantion.

4. SENSORS MODULE

Arduino Wiring sketch. Interfacing wide range of available sensors. Acquiring all sensors data for navigation.

5. GPS MODULE

Arduino Wiring sketch. Aquiring all GPS data. Can be switch off when submerged.

6. AUX SENSOR MODULE

Arduino Wiring sketch. Interfacing sensors needing separate master-slave I2C bus or 3.3V power.

7. USB RADIO MODULE

Arduino Wiring sketch. Getting commands from any notebook and transmit them to AUV. Receiving telemetry from AUV and passing it back to PC.

8. TAXI CONTROLL PANEL

GUI created in Proccessing visualise data and controll the AUV. Simplier equivalent to ArduPilot's Ground Controll

TAXI Controll Panel

TAXI - simplier equivalent to ArduPilot's groung controll.

LINUX / MAC / WIN

IN ALMOST READY ALFA

Last update: 1.5.2021