Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies

Toni Aaltonen; M. Saarivirta; T. Kerminen; J. Grönman

doi:10.23919/MIPRO48935.2020.9245188

Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies

Toni Aaltonen, M. Saarivirta, T. Kerminen, J. Grönman

Tietotekniikka

Tutkimustuotos: Konferenssiartikkeli › Scientific › vertaisarvioitu

2 Sitaatiot (Scopus)

107 Lataukset (Pure)

Abstrakti

The increase in the availability of low-cost components has made it possible to design and implement new and innovative devices for the underwater robotics. Today, cost-effective and open solutions can be created to replace previous expensive and proprietary robot systems. This study presents the prototype of an autonomous underwater vehicle. The system was built using commonly available sensor components in combination with an open source code and in-house designed parts. The configuration of the autonomous underwater vehicle is introduced in this study. The results obtained from the component tests performed in the actual operating environment are presented. Based on these tests, the subsystems were found to be well-suited for underwater environment.

Alkuperäiskieli	Englanti
Otsikko	2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings
Alaotsikko	RTA
Toimittajat	Marko Koricic, Karolj Skala, Zeljka Car, Marina Cicin-Sain, Vlado Sruk, Dejan Skvorc, Slobodan Ribaric, Bojan Jerbic, Stjepan Gros, Boris Vrdoljak, Mladen Mauher, Edvard Tijan, Tihomir Katulic, Predrag Pale, Tihana Galinac Grbac, Nikola Filip Fijan, Adrian Boukalov, Dragan Cisic, Vera Gradisnik
Kustantaja	IEEE
Sivut	1189-1194
Sivumäärä	6
ISBN (elektroninen)	978-953-233-099-1
DOI - pysyväislinkit	https://doi.org/10.23919/MIPRO48935.2020.9245188
Tila	Julkaistu - 28 syysk. 2020
OKM-julkaisutyyppi	A4 Artikkeli konferenssijulkaisussa
Tapahtuma	International Convention on Information, Communication and Electronic Technology - Opatija, Kroatia Kesto: 28 syysk. 2020 → 2 lokak. 2020

Julkaisusarja

Nimi	2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings
ISSN (elektroninen)	2623-8764

Conference

Conference	International Convention on Information, Communication and Electronic Technology
Maa/Alue	Kroatia
Kaupunki	Opatija
Ajanjakso	28/09/20 → 2/10/20

Julkaisufoorumi-taso

Jufo-taso 1

!!ASJC Scopus subject areas

Computer Networks and Communications
Information Systems
Electrical and Electronic Engineering
Computational Mathematics
Hardware and Architecture

Pääsy asiakirjaan

10.23919/MIPRO48935.2020.9245188

MIPRO2020_AUV_ROS_final2
This publication is copyrighted. You may download, display and print it for Your own personal use. Commercial use is prohibited.
Accepted author manuscript, 403 KBLisenssi: Other

http://urn.fi/URN:NBN:fi:tuni-202101191457

Siteeraa tätä

Aaltonen, T., Saarivirta, M., Kerminen, T., & Grönman, J. (2020). Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies. teoksessa M. Koricic, K. Skala, Z. Car, M. Cicin-Sain, V. Sruk, D. Skvorc, S. Ribaric, B. Jerbic, S. Gros, B. Vrdoljak, M. Mauher, E. Tijan, T. Katulic, P. Pale, T. G. Grbac, N. F. Fijan, A. Boukalov, D. Cisic, & V. Gradisnik (Toimittajat), 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings: RTA (Sivut 1189-1194). (2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings). IEEE. https://doi.org/10.23919/MIPRO48935.2020.9245188

Aaltonen, Toni ; Saarivirta, M. ; Kerminen, T. et al. / Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies. 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings: RTA. Toimittaja / Marko Koricic ; Karolj Skala ; Zeljka Car ; Marina Cicin-Sain ; Vlado Sruk ; Dejan Skvorc ; Slobodan Ribaric ; Bojan Jerbic ; Stjepan Gros ; Boris Vrdoljak ; Mladen Mauher ; Edvard Tijan ; Tihomir Katulic ; Predrag Pale ; Tihana Galinac Grbac ; Nikola Filip Fijan ; Adrian Boukalov ; Dragan Cisic ; Vera Gradisnik. IEEE, 2020. Sivut 1189-1194 (2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings).

@inproceedings{19789f27bac549029f5d5af2c86e5e20,

title = "Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies",

abstract = "The increase in the availability of low-cost components has made it possible to design and implement new and innovative devices for the underwater robotics. Today, cost-effective and open solutions can be created to replace previous expensive and proprietary robot systems. This study presents the prototype of an autonomous underwater vehicle. The system was built using commonly available sensor components in combination with an open source code and in-house designed parts. The configuration of the autonomous underwater vehicle is introduced in this study. The results obtained from the component tests performed in the actual operating environment are presented. Based on these tests, the subsystems were found to be well-suited for underwater environment.",

keywords = "AUV, Low-cost, Open-source, ROS, Sonar, Underwater robotics",

author = "Toni Aaltonen and M. Saarivirta and T. Kerminen and J. Gr{\"o}nman",

note = "Publisher Copyright: {\textcopyright} 2020 Croatian Society MIPRO. Copyright: Copyright 2020 Elsevier B.V., All rights reserved.; International Convention on Information, Communication and Electronic Technology ; Conference date: 28-09-2020 Through 02-10-2020",

year = "2020",

month = sep,

day = "28",

doi = "10.23919/MIPRO48935.2020.9245188",

language = "English",

series = "2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings",

publisher = "IEEE",

pages = "1189--1194",

editor = "Marko Koricic and Karolj Skala and Zeljka Car and Marina Cicin-Sain and Vlado Sruk and Dejan Skvorc and Slobodan Ribaric and Bojan Jerbic and Stjepan Gros and Boris Vrdoljak and Mladen Mauher and Edvard Tijan and Tihomir Katulic and Predrag Pale and Grbac, {Tihana Galinac} and Fijan, {Nikola Filip} and Adrian Boukalov and Dragan Cisic and Vera Gradisnik",

booktitle = "2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings",

}

Aaltonen, T, Saarivirta, M, Kerminen, T & Grönman, J 2020, Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies. julkaisussa M Koricic, K Skala, Z Car, M Cicin-Sain, V Sruk, D Skvorc, S Ribaric, B Jerbic, S Gros, B Vrdoljak, M Mauher, E Tijan, T Katulic, P Pale, TG Grbac, NF Fijan, A Boukalov, D Cisic & V Gradisnik (toim), 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings: RTA. 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings, IEEE, Sivut 1189-1194, International Convention on Information, Communication and Electronic Technology, Opatija, Kroatia, 28/09/20. https://doi.org/10.23919/MIPRO48935.2020.9245188

Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies. / Aaltonen, Toni; Saarivirta, M.; Kerminen, T. et al.
2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings: RTA. toim. / Marko Koricic; Karolj Skala; Zeljka Car; Marina Cicin-Sain; Vlado Sruk; Dejan Skvorc; Slobodan Ribaric; Bojan Jerbic; Stjepan Gros; Boris Vrdoljak; Mladen Mauher; Edvard Tijan; Tihomir Katulic; Predrag Pale; Tihana Galinac Grbac; Nikola Filip Fijan; Adrian Boukalov; Dragan Cisic; Vera Gradisnik. IEEE, 2020. s. 1189-1194 (2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings).

Tutkimustuotos: Konferenssiartikkeli › Scientific › vertaisarvioitu

TY - GEN

T1 - Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies

AU - Aaltonen, Toni

AU - Saarivirta, M.

AU - Kerminen, T.

AU - Grönman, J.

PY - 2020/9/28

Y1 - 2020/9/28

N2 - The increase in the availability of low-cost components has made it possible to design and implement new and innovative devices for the underwater robotics. Today, cost-effective and open solutions can be created to replace previous expensive and proprietary robot systems. This study presents the prototype of an autonomous underwater vehicle. The system was built using commonly available sensor components in combination with an open source code and in-house designed parts. The configuration of the autonomous underwater vehicle is introduced in this study. The results obtained from the component tests performed in the actual operating environment are presented. Based on these tests, the subsystems were found to be well-suited for underwater environment.

AB - The increase in the availability of low-cost components has made it possible to design and implement new and innovative devices for the underwater robotics. Today, cost-effective and open solutions can be created to replace previous expensive and proprietary robot systems. This study presents the prototype of an autonomous underwater vehicle. The system was built using commonly available sensor components in combination with an open source code and in-house designed parts. The configuration of the autonomous underwater vehicle is introduced in this study. The results obtained from the component tests performed in the actual operating environment are presented. Based on these tests, the subsystems were found to be well-suited for underwater environment.

KW - AUV

KW - Low-cost

KW - Open-source

KW - ROS

KW - Sonar

KW - Underwater robotics

U2 - 10.23919/MIPRO48935.2020.9245188

DO - 10.23919/MIPRO48935.2020.9245188

M3 - Conference contribution

AN - SCOPUS:85097214816

T3 - 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings

SP - 1189

EP - 1194

BT - 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings

A2 - Koricic, Marko

A2 - Skala, Karolj

A2 - Car, Zeljka

A2 - Cicin-Sain, Marina

A2 - Sruk, Vlado

A2 - Skvorc, Dejan

A2 - Ribaric, Slobodan

A2 - Jerbic, Bojan

A2 - Gros, Stjepan

A2 - Vrdoljak, Boris

A2 - Mauher, Mladen

A2 - Tijan, Edvard

A2 - Katulic, Tihomir

A2 - Pale, Predrag

A2 - Grbac, Tihana Galinac

A2 - Fijan, Nikola Filip

A2 - Boukalov, Adrian

A2 - Cisic, Dragan

A2 - Gradisnik, Vera

PB - IEEE

T2 - International Convention on Information, Communication and Electronic Technology

Y2 - 28 September 2020 through 2 October 2020

ER -

Aaltonen T, Saarivirta M, Kerminen T, Grönman J. Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies. julkaisussa Koricic M, Skala K, Car Z, Cicin-Sain M, Sruk V, Skvorc D, Ribaric S, Jerbic B, Gros S, Vrdoljak B, Mauher M, Tijan E, Katulic T, Pale P, Grbac TG, Fijan NF, Boukalov A, Cisic D, Gradisnik V, toimittajat, 2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings: RTA. IEEE. 2020. s. 1189-1194. (2020 43rd International Convention on Information, Communication and Electronic Technology, MIPRO 2020 - Proceedings). doi: 10.23919/MIPRO48935.2020.9245188

Implementation of a low-cost autonomous underwater vehicle using open source ROS components with consumer class sonar technologies

Abstrakti

Julkaisusarja

Conference

Julkaisufoorumi-taso

!!ASJC Scopus subject areas

Pääsy asiakirjaan

Sormenjälki

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