mnadev / auvkit

AUVKit

What is it?

AUVKit is a Python library for communicating, controlling and writing apps for AUVs (Autonomous underwater vehicles). AUVKit currently support the BlueRobotics BlueROV2. We are currently looking for contributors to contribute to this project. AUVKit is an open source project that was created and designed by the Cyber Physical Systems Laboratory at Rutgers, the State University of New Jersey in New Brunswick, NJ, USA.

What can it do? How do I get started?

AUVKit aims to simplify the creation of applications for AUVs for developers so they do not have to focus on unnecessary error handling and motor contor. The API is designed to be easy to use yet powerful. AUVKit supports GPS navigation or alternatively, supports movement given a displacement. AUVKit also supports writing data to a CSV for data collection. AUVKit currently supports data retrieval from Atlas Scientific Sensors and from MAVLink messages. AUVKit also currently only supports the BlueRobotics Ping Echosonar.

To get started, check out the examples in the examples/ folder in this repo.

Future Work

Currently, the following bullets are desired:

• Add dynamic PID control to the library.
• Implement more sophisticated Kalman filters for localization techniques.
• Add an API for acoustic communication modems.
• Add functionality to spin the CSV writing function to another process and terminate once the path ends.
• Add database functionality instead of just using CSVs. The database could be query-able and backed up.
• Add functionality to read from the camera and get data from it, and integrate with current structure of code.
• Unit tests are needed to be written! :)

Acknowledgements

This project was based off the work of Wahhaj Zahedi, Milos Seskar, Agam Modasiya, Karun Kanda, Archana Arjula, and Mohammad Nadeem under the guidance Mehdi Rahmati and Prof. Dario Pompili.