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Modularis: Modular Underwater Robot for Rapid Development and Validation of Autonomous Systems

Baker Herrin, Victoria Close, Nathan Berner, Joshua Herbert, Ethan Reussow, Ryan James, Cale Woodward, Jared Mindlin, Sebastian Paez, Nilson Bretas, Jane Shin

TL;DR

Modularis addresses the high cost, slow bring-up, and limited modularity of autonomous underwater robots by delivering a low-cost, modular AUV built on the BlueROV2 platform. The design features mechanical, electrical, and software modularity, including a three-tube battery enclosure, a plug-and-play sensor main board, and a dual-ROS software stack (ROS1 tethered and ROS2 untethered) with Gazebo-based simulation. Key contributions include the Main Sub-System (MMB), Power Sub-System with a buck converter and BMS, Sensor Sub-System with a CAN-enabled IMU, and a software framework that supports rapid testing of perception, planning, and control. The open-source hardware and software, combined with both tethered and untethered operation and Gazebo simulation, enables faster validation of autonomous algorithms and broader applicability to environmental monitoring and underwater mapping.

Abstract

Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find off-the-shelf underwater robots that are affordable, customizable, and subject to environmental variability. Custom-built underwater robots may be necessary for specialized applications or missions, but the process can be more costly and time-consuming than purchasing an off-the-shelf autonomous underwater vehicle (AUV). To address these challenges, we propose a modular underwater robot, Modularis, that can serve as an open-source testbed system. Our proposed system expedites the testing of perception, planning, and control algorithms.

Modularis: Modular Underwater Robot for Rapid Development and Validation of Autonomous Systems

TL;DR

Modularis addresses the high cost, slow bring-up, and limited modularity of autonomous underwater robots by delivering a low-cost, modular AUV built on the BlueROV2 platform. The design features mechanical, electrical, and software modularity, including a three-tube battery enclosure, a plug-and-play sensor main board, and a dual-ROS software stack (ROS1 tethered and ROS2 untethered) with Gazebo-based simulation. Key contributions include the Main Sub-System (MMB), Power Sub-System with a buck converter and BMS, Sensor Sub-System with a CAN-enabled IMU, and a software framework that supports rapid testing of perception, planning, and control. The open-source hardware and software, combined with both tethered and untethered operation and Gazebo simulation, enables faster validation of autonomous algorithms and broader applicability to environmental monitoring and underwater mapping.

Abstract

Autonomous underwater robots typically require higher cost and time for demonstrations compared to other domains due to the complexity of the environment. Due to the limited capacity and payload flexibility, it is challenging to find off-the-shelf underwater robots that are affordable, customizable, and subject to environmental variability. Custom-built underwater robots may be necessary for specialized applications or missions, but the process can be more costly and time-consuming than purchasing an off-the-shelf autonomous underwater vehicle (AUV). To address these challenges, we propose a modular underwater robot, Modularis, that can serve as an open-source testbed system. Our proposed system expedites the testing of perception, planning, and control algorithms.
Paper Structure (14 sections, 14 figures)

This paper contains 14 sections, 14 figures.

Table of Contents

  1. Introduction
  2. Related Work
  3. Mechanical Design
  4. Electrical Design
  5. Main Sub-System
  6. Power Sub-System
  7. Sensor Sub-System
  8. Software Design
  9. Tethered System
  10. Gazebo Simulation
  11. Experimental Results
  12. Buoyancy Test
  13. Electronics Testing
  14. Conclusions

Figures (14)

  • Figure 1: Assembly model of the upgraded BlueROV2.
  • Figure 2: Sheet metal battery chassis: 1) clearance holes for ballasts, 2) cutout for weight reduction, 3) oversized mounting holes for rapid assembly.
  • Figure 3: The 3D printed stabilizer rings for mounting the new electronics board inside the 6-inch diameter electronics enclosure tube.
  • Figure 4: Buck Converter Schematic
  • Figure 5: Battery Management System
  • ...and 9 more figures