A DIY autonomous submarine build using a clear acrylic tube body, Raspberry Pi 4, and ESP32. The sub features an Arducam IMX708 camera, BNO085 IMU, BMP280 pressure sensors, and syringe-based ballast tanks for depth control. Autonomous navigation relies on HSV-based color detection for object avoidance, chosen over RGB for its brightness-independent tracking. An antenna buoy maintains wireless communication when near the surface.
142 Impressions