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
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DOI
10.25777/s0tj-db74
Recommended Citation
Cook, Christopher J..
"System Identification of an Autonomous Surface Vehicle"
(2014). Master of Science (MS), Thesis, Mechanical & Aerospace Engineering, Old Dominion University, DOI: 10.25777/s0tj-db74
https://digitalcommons.odu.edu/mae_etds/456
Included in
Mechanical Engineering Commons, Navigation, Guidance, Control and Dynamics Commons, Propulsion and Power Commons