Sensors and Algorithms for an Unmanned Surf-Zone Robot
Abstract
The design, construction, integration and implementation of electronics, sensors, actuators and power supplies for a surf-zone autonomous vehicle are presented. Physical models and lab-test characterizations are used to address limitations and achieve improved performance through signal-processing techniques. A deterministic centralized pooling-communication protocol is designed and implemented for use over a network of microcomputers and microprocessors with limited computational resources. A series of algorithms are developed to achieve autonomy over land and at sea. Autonomy functions include waypoint navigation, obstacle avoidance, sea-to-land transition, operation environment detection, depth maintenance and wireless communications all of which support basic autonomous intelligence, surveillance and reconnaissance missions for missions over a beach front.
Document Details
- Document Type
- Technical Report
- Publication Date
- Dec 01, 2015
- Accession Number
- ADA632232
Entities
People
- Oscar Garcia
Organizations
- Naval Postgraduate School