Subsea Resident Autonomous Underwater Vehicle

Memorial University ECE Capstone Project

pi4_software - SRAUV main and modules

• srauv_settings.json // config file

• install_commands.txt // useful pi4 setup cmds

• pip3 install requirements.txt // or requirements_win.txt

• python3 srauv_main.py // main update loop for the srauv

  The SRAUV has an update loop that operates at a deterministic rate 20 hz (50ms), to make decisions based on current vehicle state and sensor values and apply the appropriate thrust until the next update cycle.

  Update Loop: update_telemetry_values() estimate_position() evaluate_state() calculate_thrust() log_state() apply_thrust()

  Threaded I/O operations that update values via shared memory (g_tel_msg): distance sensor, imu, internal socket messaging

  Local sockets are used to communicate with tag_detect for position, and the external_websocket_server (non-localhost, udp socket, talks to Unity GUI)

apriltags - get position data from video stream to send over socket

• python3 tag_detect.py

Unity SIM - version 2019.3.10 was used

Scene == TankSim

• GUI for the vehicle
• In editor "WSClient" object used to change target ip
• Upper buttons used for SRAUV communications
• Lower buttons for sim control
• wasd for lats | qr for rotation | up/down arrows for verts

Scene == MlTank

• Multi-tank training enviornment for ML based autopilot

Scene == OceanRender

• Open ocean scene for scenerio render