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Autonomous Surface Vehicle Project

Autonomous Surface Vehicle Project. MAE 435 Project Design and Management II 7 December, 2011. ASV MAE Team Members . Advisors. Team A. Team B. Dr Gene Hou (Faculty Advisor) Stanton Coffey (Graduate Advisor) Justin Selfridge (Graduate Advisor). Brian Skoog John Lee Jeff Roper

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Autonomous Surface Vehicle Project

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  1. Autonomous Surface Vehicle Project MAE 435 Project Design and Management II 7 December, 2011

  2. ASV MAE Team Members Advisors Team A Team B • Dr Gene Hou (Faculty Advisor) • Stanton Coffey (Graduate Advisor) • Justin Selfridge (Graduate Advisor) • Brian Skoog • John Lee • Jeff Roper • Paul Hart • Stephanie McCarthy • Andrew Vaden • John Bernas • Eric Starck • Jason Putman • Kevin Mcleod ECE Team • Nimish Sharma • Justin Maynard • Robert Tolentino • BibekShrestha • SushilKhadka

  3. Objective • Improve current ASV for the Summer 2012 Association for Unmanned Vehicle Systems International annual RoboBoat Competition

  4. 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

  5. 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

  6. Project Components • LiDAR • Sensor gimbal mount and code • Navigation logic • New onboard computer • Electronics case • Arduino/Ardupilot integration

  7. LiDAR • Sensor testing • Full sunlight • Sensor/Computer Communication

  8. LiDAR • Data Interpretation

  9. Sensor Gimbal Mount • Switched to single axis • Coded using Arduino and accelerometer

  10. Navigation Logic • Defined scenarios based on: • Distance to buoys • Color of buoys • Approach angle • LiDAR as primary sensor • Computer Vision as secondary sensor

  11. Navigation Code • Written in C++ • 80% Complete • IF/ELSE loops • Compiled with MS Visual Studio

  12. New Onboard Computer

  13. Electronics case • Improve watertight integrity • Air flow • Component placement

  14. Electronics case

  15. Arduino/Ardupilot Integration • Ardupilot integrated sensors • Accelerometer • Gyro • Compass • GPS • Communication with PC • ECE team help

  16. Gantt Chart

  17. 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

  18. Questions?

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