Date of Award

Spring 2014

Document Type

Thesis

Degree Name

Master of Science (MS)

Department

Mechanical & Aerospace Engineering

Program/Concentration

Mechanical Engineering

Committee Director

Jen-Kuang Huang

Committee Member

Gene Hou

Committee Member

Thomas E. Alberts

Call Number for Print

Special Collections; LD4331.E56 C665 2014

Abstract

The modeling and system identification of a small pontoon based marine craft, without rudder control, in a controlled environment. Old Dominion University's autonomous surface vehicle was modeled using the Observer/Kalman System Identification method. The experimental position data was collected using a laser positioning system along with Arduino based sensors on board the boat to collect the motor speeds of the dual outboard motors. The data was then compiled using the System/ Observer/Controller Identification Toolbox to derive a dynamic model that is capable of providing path estimation and prediction information to the autonomous robotic system.

Rights

In Copyright. URI: http://rightsstatements.org/vocab/InC/1.0/ This Item is protected by copyright and/or related rights. You are free to use this Item in any way that is permitted by the copyright and related rights legislation that applies to your use. For other uses you need to obtain permission from the rights-holder(s).

DOI

10.25777/s0tj-db74

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