Autonomous Underwater Vehicles (AUVs) are becoming increasingly important for different types of industrial applications. The generally high cost of (AUVs) restricts the access to them and therefore advances in research and technological development. However, recent advances have led to lower cost commercially available Remotely Operated Vehicles (ROVs), which present a platform that can be enhanced to enable a high degree of autonomy, similar to that of a high-end (AUV). In this article, we present how a low-cost commercial-off-the-shelf (ROV) can be used as a foundation for developing versatile and affordable (AUVs). We introduce the required hardware modifications to obtain a system capable of autonomous operations as well as the necessary software modules. Additionally, we present a set of use cases exhibiting the versatility of the developed platform for intervention and mapping tasks.

翻译：自治水下车辆(AUV)对不同类型的工业应用越来越重要,(AUV)的成本普遍很高,限制了获得这些车辆的机会,因此限制了研究和技术开发的进步,然而,最近的进展导致在商业上可买到的遥控车辆(ROV)成本较低,这提供了可以加强的平台,以便实现高度自治,类似于高端汽车(AUV)的平台。在本条中,我们介绍了如何将低成本的商用现成车辆(ROV)用作发展多功能和负担得起的(AUV)的基础。我们引入了必要的硬件改造,以获得一个能够自主操作的系统以及必要的软件模块。此外,我们介绍了一套展示发达的干预和绘图任务平台多功能的利用案例。