Date of Award
Summer 2013
Document Type
Thesis
Degree Name
Master of Science (MS)
Department
Mechanical & Aerospace Engineering
Program/Concentration
Aerospace Engineering
Committee Director
Brett Newman
Committee Director
Gene Hou
Committee Member
Cheng-Hao Chen
Call Number for Print
Special Collections; LD4331.E56 C63 2013
Abstract
Autonomous Surface Vehicle research for water applications is inspired by a technological push to create more automated robotics that can perform functions too menial for a human to spend time on as well as too complex, difficult, or dangerous for a person to perform. The development objective is to construct, program, and test an autonomous surface vehicle that can perform precision hold maneuvers independent of human control. This capability would be useful in many situations where it is desirable to freeze the current position of the boat in order to perform some duty task. To conduct the research for this thesis, first, a vehicle was built, such that it has the capabilities to maneuver in all directions to be able to hold its position. Second, electrical hardware, sensors, and actuators were programmed to allow for motor control and position feedback. To understand the vehicle dynamics before water testing could begin, a simulation model was built to aid in gain selection for the proportional-integral-derivative controller that was used. Finally, testing was performed to collect motor thrust and water dampening coefficients, followed by testing of the controller on the vehicle in a real setting.
Rights
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DOI
10.25777/cyp6-mn94
Recommended Citation
Coffey, Stanton J..
"Control Design and Implementation for an Autonomous Surface Vehicle Using Azimuth Thrusters"
(2013). Master of Science (MS), Thesis, Mechanical & Aerospace Engineering, Old Dominion University, DOI: 10.25777/cyp6-mn94
https://digitalcommons.odu.edu/mae_etds/458