Design of a prototype autonomous amphibious WHEGS robot for surf-zone operations
Ward, Jason L.
MetadataShow full item record
The Small Robot Initiative at the Naval Postgraduate School (NPS) has spent several years in development based on the Foster Miller lemmings platform. This platform, in conjunction with a commercial off-the-shelf (COTS) control architecture, is capable of autonomous, land based waypoint navigation, self orientation, and rudimentary obstacle avoidance. It can receive waypoint information, manual control input, and transmit video and audio information back to a control station via 802.11 wireless communication. The introduction of the WHEGS design, developed at Case Western Reserve University, and a modified version of the COTS control system will provide a platform with greater speed, mobility and versatility. This thesis developed a prototype WHEGS vehicle and integrated the control system with improvements in the navigation routine through the addition of a dead reckoning sensor and calculation function. Although the mechanical design proved to be highly inefficient and unable to propel itself, the control system was successful, allowing integration with a more robust mechanical design from Case Western Reserve University. Follow on development and research will lighten the body through the use of carbon fiber and test the robots ability to maneuver effectively in the surf-zone.
Showing items related by title, author, creator and subject.
Martinez, T.; Agrawal, B.N. (2008);This paper discusses two optical beam control testbeds developed at the Spacecraft Research and Design Center, Naval Postgraduate School, to evaluate and develop control techniques for jitter and adaptive optics control. ...
Song, G.; Kelly, B.; Agrawal, B.N. (2000);This paper presents the design and the experimental result of the active position control of a shape memory alloy (SMA) wire actuated composite beam. The composite beam has a honeycomb structure with SMA wires embedded in ...
Song, G.; Kelly, B.; Agrawal, B.N. (1999);This paper presents the design and experiment results of active position control of a shape memory alloy (SMA) wires actuated composite beam. The composite beam is honeycomb structured with shape memory alloy wires embedded ...