The design and implementation of a semi-autonomous surf-zone robot using advanced sensors and a common robot operating system

dc.contributor.advisorChung, Timothy H.
dc.contributor.advisorHarkins, Richard
dc.contributor.authorHickle, Jason.
dc.contributor.authorHalle, Steven
dc.contributor.corporateNaval Postgraduate School (U.S.)
dc.contributor.departmentPhysics (PH)
dc.date.accessioned2012-03-14T17:46:24Z
dc.date.available2012-03-14T17:46:24Z
dc.date.issued2011-06
dc.description.abstractA semi-autonomous vehicle, MONTe, was designed, modeled and tested for deployment and operation in a surf-zone coastal environment. The MONTe platform was designed to use unique land based locomotion that incorporates wheel-legs(WhegsTM) and a tail. Semi-autonomy was realized with data from onboard sensors and implemented through open source Robot Operating System (ROS), hosted on an Ubuntu Linux based processor. Communications via IEEE 802.11 protocols proved successful for data telemetry in line of site operations. Basic mobility and tail control of the platform was modeled in Working Model 2D. Field tests were successfully conducted to demonstrate mobility and semi-autonomous waypoint navigation. Future developments will look to improve the overall design and test water borne mobility, navigation, and communication.en_US
dc.description.distributionstatementApproved for public release; distribution is unlimited.
dc.description.urihttp://archive.org/details/thedesignndimple109455690
dc.format.extentxiv, 115 p. : ill. ;en_US
dc.identifier.oclc743236337
dc.identifier.urihttps://hdl.handle.net/10945/5690
dc.publisherMonterey, CA; Naval Postgraduate Schoolen_US
dc.rightsThis publication is a work of the U.S. Government as defined in Title 17, United States Code, Section 101. Copyright protection is not available for this work in the United States.en_US
dc.subject.lcshPhysicsen_US
dc.subject.lcshRoboticsen_US
dc.subject.lcshModelingen_US
dc.titleThe design and implementation of a semi-autonomous surf-zone robot using advanced sensors and a common robot operating systemen_US
dc.typeThesisen_US
dspace.entity.typePublication
etd.thesisdegree.disciplineApplied Physicsen_US
etd.thesisdegree.grantorNaval Postgraduate Schoolen_US
etd.thesisdegree.levelMastersen_US
etd.thesisdegree.nameM.S.en_US
etd.verifiednoen_US
relation.isDepartmentOfPublication0966cedc-9b4d-44f6-932d-51786e48444d
relation.isDepartmentOfPublication.latestForDiscovery0966cedc-9b4d-44f6-932d-51786e48444d
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