Autonomous robots can help people explore parts of the ocean that would be hard or impossible to get to otherwise. The increase in the availability of low-cost components has made it possible to innovate, design, and implement new and innovative ideas for underwater robotics. Cost-effective and open solutions that are available today can be used to replace expensive robot systems. The prototype of an autonomous robot system that functions in brackish waterways in settings such as fish hatcheries is presented in this research. The system has low-cost ultrasonic sensors that use a SLAM algorithm to map and move through the environment. When compared to previous studies that used Lidar sensors, this system's configuration was chosen to keep costs down. A comparison is shown between ultrasonic and lidar sensors, showing their respective pros and cons.

翻译：自主机器人可以帮助人们探索海洋中难以到达或无法到达的部分。低成本组件的增加使得创新、设计和实现新的和创新的水下机器人想法成为可能。本研究介绍了一个在半咸水中运行的自主机器人系统的原型，例如鱼苗孵化场等环境。该系统使用低成本超声波传感器，并使用SLAM算法来制图并穿越环境。与使用激光雷达传感器的先前研究相比，本系统的配置选择是为了降低成本。对超声波和激光雷达传感器进行了比较，显示了它们各自的优缺点。