Lo-MARVE: A Low Cost Autonomous Underwater Vehicle for Marine Exploration

Abstract

This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water environments. Lo-MARVE offers a cost-effective alternative to existing AUVs, featuring a modular design, low-cost sensors, and wireless communication capabilities. The total cost of Lo-MARVE is approximately EUR 500. Lo-MARVE is developed using the Raspberry Pi 4B microprocessor, with control software written in Python. The proposed AUV was validated through field testing outside of a laboratory setting, in the freshwater environment of the River Corrib in Galway, Ireland. This demonstrates its ability to navigate autonomously, collect data, and communicate effectively outside of a controlled laboratory setting. The successful deployment of Lo-MARVE in a real-world environment validates its proof of concept.

Figures (6)

• Figure 1: (a), (b) and (c) CAD design of Lo-MARVE. (d) Final build of Lo-MARVE.
• Figure 2: Lo-MARVE Wiring Diagram.
• Figure 3: Bluetooth Communications with Lo-MARVE.
• Figure 4: Lo-MARVE Underwater Field Test. (a), (b), (c), (d) are images captured by experimenter. (e), (f) and (g) are images captured by Lo-MARVE.
• Figure 5: GPS data for Lo-MARVE field test.