The Design and Implementation of a Semi-Autonomous Surf-Zone Robot Using Advanced Sensors and a Common Robot Operating System

Abstract

A semi-autonomous vehicle, MONTe, was designed, modeled, and tested for deployment and operation in a surf-zone coastal environment. The MONTe platform was designed to use unique land-based locomotion that incorporates wheel-legs (Whegs (trademark)) and a tail. Semi-autonomy was realized with data from onboard sensors and implemented through the open source Robot Operating System (ROS) hosted on an Ubuntu Linux-based processor. Communications via IEEE 802.11 protocols proved successful for data telemetry in line of site operations. Basic mobility and tail control of the platform was modeled in Working Model 2D. Field tests were successfully conducted to demonstrate mobility and semi-autonomous waypoint navigation. Future developments will look to improve the overall design and test water borne mobility, navigation, and communication.

Open PDF

Document Details

Document Type
Technical Report
Publication Date
Jun 01, 2011
Accession Number
ADA547829

Entities

People

  • Jason Hickle
  • Steven Halle

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

  • Autonomy
  • Ground and Sea Platforms
  • Sensors
  • Space
  • Weapons Technologies

DTIC Thesaurus Topics

  • Autonomous Navigation
  • Autonomous Systems
  • Collision Avoidance
  • Computer Programming
  • Computers
  • Control Systems
  • Graphical User Interface
  • Human Factors Engineering
  • Inertial Navigation
  • Inertial Navigation Systems
  • Military Operations
  • Navigation
  • Object Oriented Programming
  • Operating Systems
  • Three Dimensional
  • Unmanned Systems
  • Unmanned Vehicles

Readers

  • Parallel and Distributed Computing.
  • Robotics and Automation.
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • AI & ML
  • AI & ML - Autonomous Systems
  • Autonomy