Autonomous GPS-Based Marine Search and Rescue Vehicle Worcester - - PowerPoint PPT Presentation

Autonomous GPS-Based Marine Search and Rescue Vehicle

Alex Kindle Justin Stocker

Worcester Polytechnic Institute

Department of Electrical and Computer Engineering Department of Robotics Engineering

Advisor:

• R. James Duckworth

Co-Advisor: David Cyganski

Overview

• Project motivation
• Background material
• Robot functional overview

– Design requirements – The vehicle – System electronics – Onboard sensors – Software implementation

• Video demonstration of robot
• Results and Recommendations

2

Project Motivation

• Establish a need: search and rescue
• How will the project fill this need?
• Time and budget constraints
• Leave room for future expansion

– Allow room for additional functionality – Provide recommendations for future work

3

Background

• Existing MOBI Systems

– ORCA MOBI – Sci-Tech MOB Tracking System – SeaMarshall AU9

• Commonalities

with our design

4

Project Requirements

• Autonomous operation
• GPS-based navigation
• Victim Rescue

5 Mothership Rescue Boat Victim Victim Unit

System Overview

6 Rescue Vehicle MCU MCU Wireless Wireless GPS GPS Victim Unit Wireless Wireless GUI GUI Navigation Software Navigation Software Mothership

Rescue Vehicle Chassis

• Requirements

– Ease of interfacing

• Standardized parts
• Purchasing vs. building

– Focus on ECE aspects of design

• AquaCraft Mini Rio

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Stock RC unit - Removed Steering Servo Controlled by Development board

Rescue Vehicle Control

• Development board

– ATMega2560 CPU – Servo headers – Timer IO broken out

• H-Bridge daughterboard

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Wireless Wireless GPS GPS Servo Servo H-Bridge H-Bridge Rudders Rudders Motor Motor Development Board Development Board UART0 UART0 UART1 UART1 Timer1 Timer1 Timer2 Timer2

Victim Unit

• Custom PCB

– ATMega164 CPU

– Power circuitry – GPS module – Wireless module

9 GPS Receiver Wireless Radio CPU Victim Unit Top Victim Unit Bottom

1 inch

Navigation Software

• Host software

– Java – Graphical interface – Navigation control loop

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Serial Port Serial Port

Rescue Vehicle Stream Rescue Vehicle Stream Victim Stream Victim Stream

Navigation Handler Navigation Handler Rescue Vehicle Comm Rescue Vehicle Comm Display Display GPS Serial Parser

Rescue Vehicle Rescue Vehicle Mothership Rescue Vehicle GPS Victim GPS Rescue Vehicle Commands

Full Rescue Scenario

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Video Demonstration

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Demonstration Results

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Results & Recommendations

• Successfully completed design goals

– Autonomous operation – GPS-based navigation – Victim rescue

• Suggestions for future work

– Full-scale implementation – Physically aiding the victim – Close-proximity localization

• VOR
• Ultrasonic

14

Acknowledgements

Thanks to:

• Professors Duckworth and Cyganski
• ECE Shop
• Robotics staff
• WPI Department of Electrical and Computer

Engineering

• WPI Department of Robotics Engineering
• Andy Stocker, Film Editor Extraordinaire

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Questions?

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