Autonomous Surface Vehicle Project
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Transcript Autonomous Surface Vehicle Project
MAE 435 Project Design and Management II
19 October, 2011
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ASV MAE Team Members
Advisors
Dr Gene Hou
Justin Selfridge
Stanton Coffey
(Faculty Advisor)
(Graduate Advisor)
(Graduate Advisor)
Team A
Team B
Brian Skoog
John Bernas
John Lee
Eric Starck
Jeff Roper
Jason Putman
Paul Hart
Kevin Mcleod
Stephanie Mccarthy
Andrew Vaden
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ASV ECE Team Members
Advisors
Dr Chung-Hao Chen
(Faculty Advisor)
Students
Nimish Sharma
Justin Maynard
Robert Tolentino
Bibek Shrestha
Sushil Khadka
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Autonomous Surface Vehicle-ASV
What is it?
Vehicle (boat) that can operate with no human interaction
Why do we need them?
ASVs can operate in environments that are dangerous to humans
(nuclear, biological, space, etc)
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Objective
Improve current ASV for the Summer 2012 Association for
Unmanned Vehicle Systems International annual
RoboBoat Competition
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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
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Solution Approach
Determine/purchase sensors that provide competitive
performance
Determine a navigation logic
Integrate all sensors
Test and evaluate sensors and navigation logic
Debug and modify as required
Install electronics on boat
Test and evaluate ASV
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Upgrades in Progress
Computer Vision code
LiDAR
Sensor gimbal mount
Navigation Logic
New onboard computer
Arduino integration
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Computer Vision
Primarily for buoy color
detection
Inputs directly to
onboard computer
Vision information only
extracted when LiDAR
detects object
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LiDAR
Light Detection And
Ranging
Primary Navigation
Sensor
Inputs directly to
onboard computer
240 degree FOV
5.2 meter radius
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Sensor Gimbal Mount
Required to keep LIDAR
and cameras level
Uses Ardupilot gyro and
accelerometer sensors to
detect motion
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Navigation Logic
Defined scenarios based
on:
Distance to buoys
Color of buoys
Approach angle
LiDAR as primary sensor
Computer Vision as
secondary sensor
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Navigation Logic Flow Chart
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New Onboard Computer
Custom build/Watercooled
Intel Core i3-2100T
Low Power consumption
Dual core/Hyperthreading Technology
M4-ATX-HV DC-DC Power Converter
250 Watts maximum
6-34v DC wide input
Will run on boat battery
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Onboard Computer Cont.
Not to Scale
Inside Waterproof Box
HDD
Pump/
Reservoir
Power
CPU
RAM
Radiator
Motherboard
Wireless
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Arduino Integration
Ardupilot integrated
sensors
GPS
Gyro
Compass
Accelerometer
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Sensor Schematic
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Gantt Chart
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Summary
Improve current ASV in order to be more competitive
in RoboBoat competition primary tasks
Integrate LiDAR as primary navigation sensor
Build gimbal mount for navigation sensors
Integrate Ardupilot
Upgrade computer hardware to improve processing
speed and electronics case cooling
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Questions?
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