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

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