Adapting a Low Cost Robot to Environmental Underwater Monitoring

Abstract

The present paper describes the adaptation of a low cost DIY UAV to underwater environmental monitoring. After considering the pros and cons of the different possible vehicles of this kind in the market, the one which seems to meet our requirements best is OpenROV, so in this paper, we will describe the assembling of the original OpenROV unit, study and modify the code to add an Arduino and a kit of sensors that include Ph measuring, DO, Conductivity and ORP. A probe to measure temperature and a depth sensor are also added to the basic unit. Adding these elements imply some changes in the original shape of the vehicle and could therefore alter its hydrodynamic behavior, so prior to adding the new elements, a hydrodynamic study is carried out to determine the best position of these new elements.