Oogway: Designing, Implementing, and Testing an AUV for RoboSub 2023

Abstract

The Duke Robotics Club is proud to present our robot for the 2023 RoboSub Competition: Oogway. Oogway marks one of the largest design overhauls in club history. Beyond a revamped formfactor, some of Oogway's notable features include all-new computer vision software, advanced sonar integration, novel acoustics hardware processing, and upgraded stereoscopic cameras. Oogway was built on the principle of independent, well-integrated, and reliable subsystems. Individual components and subsystems were tested and designed separately. Oogway's most advanced capabilities are a result of the tight integration between these subsystems. Such examples include sonar-assisted computer vision algorithms and robot-agnostic controls configured in part through the robot's 3D model. The success of constructing and testing Oogway in under 2 year's time can be attributed to 20+ contributing club members, supporters within Duke's Pratt School of Engineering, and outside sponsors.