Small Modular AUV Based on 3D Printing Technology: Design, Implementation and Experimental Validation

A small modular autonomous underwater vehicle (AUV) offers several benefits including enhanced mobility, cost-effectiveness, compact and portable structure, and small size. This paper proposes a comprehensive design and implementation approach for a small modular AUV, named as ARMs1.0, utilizing cutting-edge 3D printing technology. The main cabin shell of the AUV features a modular design and is manufactured using 3D printing technology. The control module and sensing equipment are installed in a sealed compartment. To achieve forward, pitching, and yawing motions, the AUV is equipped with ducted propeller and four independent rudders. The modular approach in AUV design has been implemented, considering both the main cabin shell as well as the subsections and segments of the AUV. Additionally, a centralized control system architecture design is developed based on the specific tasks of the AUV. The composition and functions of key units are described in detail, and an autonomous depth-tracking control strategy is formulated. Based on the experimental results for AUV motion in horizontal and vertical planes, including autonomous depth tracking tests, the ARMs1.0 AUV demonstrates the capability to successfully perform required maneuvering tasks. The designed small modular AUV has achieved accurate depth tracking, precise heading following and