Technical Specifications
Hull Design
- Length: 140cm
- Width: 90cm
- Weight: ~60kg
- Trimaran Configuration
- PLA with Fiberglass Reinforcement
- Modular Component Design
Propulsion
- 2x T500 Main Thrusters
- 2x T200 Tunnel Thrusters
- 12V System Operation
- 360° Maneuverability
- Three Degrees of Freedom
Power System
- 3x 12V 20Ah LiFePO4 (30A BMS)
- 1x 12V 50Ah LiFePO4 (50A BMS)
- Bluetooth Monitoring
- Extended Runtime Capability
- Custom Battery Management System
Navigation
- XSENS MTi-680G RTK GNSS/INS
- sub .5cm Position Accuracy
- Advanced Inertial Sensing
- Real-time Kinematics
- Celerways Stratus 5G Connection
Sensor Integration
Vision System
- Stereolabs ZEDX Camera
- Stereo Depth Mapping
- YOLOv8 Object Detection
- Real-time Object Tracking
LiDAR Systems
- ROBIN E LiDAR (120° FOV)
- 0.1° Resolution
- 300m Detection Range
- 10/20 FPS
Data Processing
- NVIDIA Jetson AGX Orin
- Real-time Sensor Fusion
- Processing
- Multi-sensor Integration
Software Architecture
Core Systems
- ROS2 Humble Hawksbill Framework
- NVIDIA Isaac ROS Integration
- Python & C++ Implementation
- Behavior Tree Architecture
- Modular Node Design
- Custom Message Types
Control Systems
- PID Controllers for Navigation
- Custom Autopath algorithm
- Custom Dynamic Positioning System
- GPS-IMU Fusion
- LiDAR-Camera Fusion
- Manual/Auto Mode Switching
Development Journey
