This paper presents Low-cost Marine Autonomous Robotic Vehicle Explorer (Lo-MARVE), a novel autonomous underwater vehicle (AUV) designed to provide a low cost solution for underwater exploration and environmental monitoring in shallow water environments. Lo-MARVE offers a cost-effective alternative to existing AUVs, featuring a modular design, low-cost sensors, and wireless communication capabilities. The total cost of Lo-MARVE is approximately EUR 500. Lo-MARVE is developed using the Raspberry Pi 4B microprocessor, with control software written in Python. The proposed AUV was validated through field testing outside of a laboratory setting, in the freshwater environment of the River Corrib in Galway, Ireland. This demonstrates its ability to navigate autonomously, collect data, and communicate effectively outside of a controlled laboratory setting. The successful deployment of Lo-MARVE in a real-world environment validates its proof of concept.

翻译：本文介绍了低成本海洋自主机器人探测车（Lo-MARVE），这是一种新型自主水下航行器（AUV），旨在为浅水环境下的水下勘探和环境监测提供一种低成本解决方案。Lo-MARVE 为现有 AUV 提供了一种经济高效的替代方案，具有模块化设计、低成本传感器和无线通信能力。Lo-MARVE 的总成本约为 500 欧元。该 AUV 采用 Raspberry Pi 4B 微处理器开发，控制软件使用 Python 编写。所提出的 AUV 通过在实验室环境之外的实地测试进行了验证，测试地点位于爱尔兰戈尔韦市科里布河的淡水环境中。这证明了其能够在受控的实验室环境之外自主导航、收集数据并进行有效通信。Lo-MARVE 在真实环境中的成功部署验证了其概念可行性。