ASV Zimorodek

ASV Zimorodek (English: Kingfisher) is the third Autonomous Surface Vehicle built by our team, designed for RoboBoat 2025. Incorporating lessons from ASV Perkoz and ASV Rybitwa, we employed a systems engineering approach using the V-model to develop a modular, transportable catamaran capable of tackling all competition tasks.

The hull is 3D-printed from PLA+ and filled with closed-cell foam for added buoyancy and impact resistance. Its inverted bow design, inspired by the X-BOW® solution, minimizes pitching in waves—an issue we faced with previous designs. Batteries and ESCs are now housed in the floats, lowering the center of gravity and improving stability. The propulsion system, featuring four Blue Robotics T200 thrusters angled at 30°, ensures omnidirectional movement and better thrust efficiency

Zimorodek’s computer vision has been significantly upgraded with the OAK-D LR camera, offering precise depth estimation up to 30 meters. Combined with a YOLOv8 model trained on custom datasets, the system reliably detects buoys, even the challenging black ones. Its software architecture, based on ROS2 and behavior trees, ensures efficient and precise execution of tasks.

Equipped with Special Operations Modules (SOMs), including a water gun and a racquetball delivery system, Zimorodek is prepared for demanding competition tasks. To streamline testing, we developed CRAB, a land-based robot that mirrors Zimorodek’s movement, enabling rapid debugging without requiring water tests.

ASV Zimorodek represents a major leap forward in reliability, functionality, and innovation. With this vehicle, we aim to achieve our best performance yet and demonstrate our growth as a team at RoboBoat 2025.