Paper Title
Multipurpose Riverbot for Real-Time River Depth Monitoring and Surface Debris Removal

Abstract
Real-time depth awareness remains absent from most low-cost autonomous aquatic platforms, creating serious navigational and operational risks in shallow or dynamically changing water environments. This paper presents a Multipurpose Riverbot primarily designed for real-time river depth monitoring and safety-aware autonomous navigation, while also supporting surface debris removal through an integrated embedded platform. The system integrates an Arduino Uno microcontroller with a NEO-6M GPS module for way point based positioning, an HMC5883L digital compass for heading determination, a JSN-SR04T waterproof ultrasonic sensor for continuous depth measurement, and an HC-05 Bluetooth module for wireless operator communication. Autonomous navigation is achieved using the Haversine formula for bearing computation, with heading-error-driven differential motor control producing smooth directional corrections. A rear-mounted passive net enables simultaneous collection of floating surface debris during traversal. A key aspect of the design is that depth readings are directly coupled to propulsion decisions: when the measured depth falls below a configurable safety threshold, the system automatically halts forward motion and sends an alert to the operator via Bluetooth, a safety feature absent from comparable low-cost aquatic robots. A 10 W solar panel supplements the Li-ion battery, extending field operation under outdoor conditions. Experimental results confirm a mean depth measurement error of 3.5 cm across the 50–200 cm range, stable GPS-guided waypoint navigation with compass-assisted heading correction, reliable Bluetooth telemetry at up to 10 m, and effective operation under controlled testing conditions. Keywords - Riverbot, Autonomous Navigation, River Depth Monitoring, Ultrasonic Sensor, GPS Navigation, Embedded Systems, Bluetooth, Solar Energy, Safety-Aware Navigation, Arduino