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Barbaros ROV

2019–2021

An underwater robot with a PID controller, computer vision, and two back-to-back national finishes.

PythonOpenCVFlaskRaspberry PiTeensyTCP/IP
Source

A remotely operated underwater vehicle built for TEKNOFEST’s Unmanned Underwater Systems competition, Temel (Basic) category, running on a Raspberry Pi paired with a Teensy 4.1 for hard real-time motor control.

Topside Station Flask remote UI, pilot TCP/IP Raspberry Pi Vehicle main controller OpenCV Vision Object tracking serial Teensy 4.1 3-axis PID real-time control TEKNOFEST Gaziantep 2020 · TEKNOFEST Istanbul 2021 · both 4th place, Turkey

The Raspberry Pi handled OpenCV-based object tracking for the vision tasks and relayed motor commands over serial to a Teensy 4.1, which ran a 3-axis PID controller in hard real time so motion stability didn’t depend on the Pi’s non-deterministic scheduling. A Flask-based remote operation interface on the topside station gave the pilot control and camera feed over a TCP/IP link back to the vehicle.

The team took 4th place nationally in back-to-back years, TEKNOFEST Gaziantep 2020 and TEKNOFEST Istanbul 2021. It’s the earliest project on this site, and the one that started the rest.