Autonomous Surface Vehicle Project Final
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Transcript Autonomous Surface Vehicle Project Final
MAE 435 Project Design and Management II
7 December, 2011
1
ASV MAE Team Members
Advisors
Dr Gene Hou
(Faculty Advisor)
Stanton Coffey (Graduate Advisor)
Justin Selfridge (Graduate Advisor)
Team A
Team B
ECE Team
Brian Skoog
John Bernas
Nimish Sharma
John Lee
Eric Starck
Justin Maynard
Jeff Roper
Jason Putman
Robert Tolentino
Paul Hart
Kevin Mcleod
Bibek Shrestha
Stephanie McCarthy
Sushil Khadka
Andrew Vaden
2
Objective
Improve current ASV for the Summer 2012 Association for
Unmanned Vehicle Systems International annual
RoboBoat Competition
3
RoboBoat Competition
Primary Tasks
Speed Test
Locate and complete a
straight course as fast as
possible
Navigation Test
Navigate a course of buoys
with several turns and
obstacles
Secondary Tasks
Changed from last year
4
Solution Approach
Determine/purchase sensors that provide competitive performance
Formulate a navigation logic
Integrate all sensors
Test and evaluate sensors and navigation logic
Install electronics on boat
5
Project Components
LiDAR
Sensor gimbal mount and code
Navigation logic
New onboard computer
Electronics case
Arduino/Ardupilot integration
6
LiDAR
Sensor testing
Full sunlight
Sensor/Computer
Communication
7
LiDAR
Data Interpretation
8
Sensor Gimbal Mount
Switched to single
axis
Coded using
Arduino and
accelerometer
9
Navigation Logic
Defined scenarios based
on:
Distance to buoys
Color of buoys
Approach angle
LiDAR as primary sensor
Computer Vision as
secondary sensor
10
Navigation Code
Written in C++
80% Complete
IF/ELSE loops
Compiled with MS
Visual Studio
11
New Onboard Computer
12
Electronics case
Improve watertight
integrity
Air flow
Component placement
13
Electronics case
14
Arduino/Ardupilot Integration
Ardupilot integrated
sensors
Accelerometer
Gyro
Compass
GPS
Communication with PC
ECE team help
15
Gantt Chart
16
Summary/Deliverables
Constructed & Programmed Gimbal
Built and tested new onboard computer
Modified electronics case
Arduino/Ardupilot live-time communication
LiDAR Integration
Data extraction complete
Navigation C++ Code
Model complete
17
Questions?
18