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：自主机器人能够帮助人类探索海洋中难以或无法到达的区域。低成本组件的广泛普及使得在水下机器人领域进行创新、设计与实现新构想成为可能。当今可用的经济型开源解决方案可用于替代昂贵的机器人系统。本研究展示了一种能在鱼类孵化场等咸淡水水道中运行的自主机器人系统原型。该系统采用低成本超声波传感器，通过SLAM算法实现环境地图构建与自主导航。相较于此前使用激光雷达传感器的研究，本系统配置旨在控制成本。通过对比超声波传感器与激光雷达传感器的性能，分别阐述了两者的优缺点。