Modeling and Simulation for a Surf Zone Robot

Abstract

A kinematic and dynamic model for a three degree-of-freedom surf zone robot is developed and tested with a physical test platform and with a simulated robot in Robot Operating System. Derived from Lagrangian mechanics and relying on angular wheel velocities from encoders, the model successfully demonstrates accurate prediction of motion on simple terrain. The application of the model to future platforms is analyzed and a broad examination of the current state of surf zone robotic systems is provided. An in-depth discussion of the potential improvements to the model is made and the critical work still needed to realize a complete and deployable surf zone platform is described for future study.

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Document Details

Document Type
Technical Report
Publication Date
Dec 14, 2012
Accession Number
ADA574011

Entities

People

  • Eric Shuey
  • Mika Shuey

Organizations

  • Naval Postgraduate School

Tags

Communities of Interest

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

DTIC Thesaurus Topics

  • Accuracy
  • Autonomous Systems
  • Cartesian Coordinates
  • Command And Control
  • Construction
  • Control Systems
  • Detection
  • Global Positioning Systems
  • Motion Capture
  • Motion Planning
  • Operating Systems
  • Two Dimensional
  • United States Naval Academy
  • Unmanned Aerial Vehicles
  • Unmanned Systems
  • Unmanned Underwater Vehicles
  • Unmanned Vehicles

Readers

  • Coastal Oceanography
  • Computational Modeling and Simulation
  • Robotics and Automation.

Technology Areas

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