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

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Authors
Hickle, Jason.
Halle, Steven
Subjects
Advisors
Chung, Timothy H.
Harkins, Richard
Date of Issue
2011-06
Date
Publisher
Monterey, California. Naval Postgraduate School
Language
Abstract
A 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.
Type
Thesis
Description
Series/Report No
Department
Physics
Organization
Naval Postgraduate School (U.S.).
Identifiers
NPS Report Number
Sponsors
Funder
Format
xiv, 115 p. : ill. ;
Citation
Distribution Statement
Approved for public release; distribution is unlimited.
Rights
This 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.
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