I am currently working on designing/building an ASV (automated surface vehicle) that will avoid obstacles around it. It will be ran through an Arduino Uno and will be completely autonomous aside from the initial power start up. A sensor (HC-SR04) will be mounted at the bow of the ASV. The ultrasonic sensor uses sonar to determine the distance of an object in front of it. The transmitter sends a signal which would be a high-frequency sound. The signal would then be reflected when it encounters an object hits the receiver on the sensor. The time delay between the outgoing and incoming signal is used to calculate the distance of the object. The ASV will be powered by two DC motors on the port and starboard sides.

So far, I have been designing the hull in Solidworks for 3D printing. It will be a catamaran style of hull. The entire hull will be printed in sections and then assembled together. In version 1 of the hull, the hole where a waterproof bearing would be fitted needed to be changed because it was at an angle where the propeller would be sticking out of the water due to the hull being very buoyant.

Version 1:

Bearing hole now angled:

In version 2 I changed the hole to an angled one so now the motor shaft and propellers will be completely submerged.

Version 2:

Propeller: