Using a High-Speed Mini-PC to Control an Autonomous Underwater Vehicle

In this paper, the authors present the design of a mini-PC board to fast processing of an AUV (Autonomous Underwater Vehicle) with two 360° rotational thrusters. This rotation capability in the thrusters, along with an embedded mass shifter, allows for long-time immersive motor maneuvers for this AUV. Also, the conditions for moving the device at the water surface and depth are provided by changing the angle of the thrusters and moving the mass shifter along with the motor speed change. All the commands related to the motor angles, proper position of the thrusters, mass shifter, and speed, are sent to an Engine board via a high-speed Mini PC. The high-speed Mini PC sends decisions to the Engine board after receiving and processing all sensors data as well as data from embedded cameras. This integrated system provides the ability to move safely based on accurate analysis of the environment by sensors and images received by cameras from the surroundings, with minimal energy consumption for the underwater AUV. The results of various tests demonstrated the high performance of this AUV