E-AUV (Eepis Autonomous Underwater Vehicle) – KRI 2023

E-AUV (Eepis Autonomous Underwater Vehicle) for KRI 2023

Overview

Represented Politeknik Elektronika Negeri Surabaya (PENS) in the 2023 Indonesian Underwater Robot Contest (KRBAI) by developing a fully autonomous underwater vehicle (AUV) capable of completing both mandatory and innovation missions.

Missions

• Mandatory Mission: Navigate autonomously through two gates placed 10 meters apart while maintaining stable heading and depth.
• Innovation Mission: Perform underwater cable inspection — the robot follows a submerged cable using HSV-based lane detection processed on a Jetson Nano.

Contribution

• Team Leadership: Led a multidisciplinary team covering mechanical, electrical, software, and non-technical divisions.
• Electrical System Design: Built the complete electrical system including motor drivers, power distribution, and waterproof circuitry.
• Autonomous Navigation Development:
  1. Implemented HSV-based lane detection for cable following on Jetson Nano.
  2. Integrated Jetson Nano (vision & mission logic) with Arduino (low-level motor control).
  3. Tuned controllers for stable depth and directional control.
• Project Management: Organized schedules, preparation, and overall competition strategy.

Results

• Successfully completed missions in real underwater testing conditions.
• Achieved 2nd Place (Regional) and 3rd Place (National) at KRBAI 2023.

Regional Selection Video

National Championship News

Documentation