Bumblebee Autonomous Underwater Vehicle

BBAUV is an autonomous underwater vehicle that is capable of navigating underwater. It is designed by a student led team called Bumblebee, and was built to take part in the AUVSI Robosub competition in San Diego.

I was heavily involved in the design of the software system, primarily working on the fusion of various sensors, including the Sonar, Camera, IMU and DVL.

Out team won 2nd place in the competition, including being the first team to complete the torpedo board challenge in the history of the competition, thanks to the use of my sonar and camera fusion algorithm.

The paper can be found here: Link