V-Dolphin AVS

Software Family for Amethyst AUV Platform

working with Raspberry Pi and Arduinos

NOW IN WILD ALFA VERSION

(Contact me if you want help with testing)

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 and less sophisticated equivalent to ArduPilot's Ground Controll

V-DOLPHIN DEV DIARY 2022

October, 2022

VISUAL OBSTACLE AVOIDANCE

Visual obstacle avoidance using camera mounted in the new bow section started. Experimenting with OpenCV and camera in water. Doors are opened for visual surface navigation and more.

August, 2022

CONTACTLESS SWITCH

Kai again! Creating contactless switch which allowing craft to be switched on just with help of magnet. Switching off must be done manualy via controller so no accidental magnetic field in water can't switch AUV off.

June, 2022

INTERNAL IMU SENSOR AND CALIBRATION

Kai Packheiser did a huge work on IMU implementation and thanks to his calibration script IMU sensor can be placed now in to dry compartment without interferences. Heading and balance are much more precise. This bringing software release day closer by the months.

May, 2022

LEAK WARNINGS

When leakage of water to dry compartment occurs, custom leak sensor captures incident and Dolphin will send warning message to TAXI controll station. Has three levels of floding indication for now. Auto mission abort and surface will be next move.

April, 2022

PID CONTROLL

First integration of vertical thrusters PID controll. Integration is basic in raw alfa stage. We need system when nonperfectly balanced craft still dive correctly and straight. Manual setup of each vertical thruster speeds are controled from taxi shore station from now as well. This combination should bring solid relusts. PID controll of vertical thrusters will be main task for this testing season.

February, 2022

NEW NAVIGATION RULLE

Dolphin now tracking its position all the time when turned up. Combining GPS, gyrocompass and dead reckoning technique to know its possition in every second. When GPS is available Dolphin take GPS as primal source of position data. When GPS signal not available, automaticaly switching to dead reckoning and keep calculating until next GPS fix.

January, 2022

NEW IMU FOR NAVIGATION AND BALANCE

IMU GY-91 MPU9250 integrated in to Dolphin family. Integration is fragile, still with issues, but generally working and promising good results when become tuned up. Imu will help with craft´s stability and balance while diving and when underwater using PID controll to fine tweak thrusters in real time.