Accession Number : ADA547829


Title :   The Design and Implementation of a Semi-Autonomous Surf-Zone Robot Using Advanced Sensors and a Common Robot Operating System


Descriptive Note : Master's thesis


Corporate Author : NAVAL POSTGRADUATE SCHOOL MONTEREY CA DEPT OF PHYSICS


Personal Author(s) : Halle, Steven ; Hickle, Jason


Full Text : https://apps.dtic.mil/dtic/tr/fulltext/u2/a547829.pdf


Report Date : Jun 2011


Pagination or Media Count : 131


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 (Whegs (trademark)) and a tail. Semi-autonomy was realized with data from onboard sensors and implemented through the 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.


Descriptors :   *AMPHIBIOUS VEHICLES , *AUTONOMOUS NAVIGATION , *BEACHES , *COASTAL REGIONS , *MOBILITY , *ROBOTS , *SURF , COMPUTER VISION , CONTROL SYSTEMS , FIELD TESTS , GLOBAL POSITIONING SYSTEM , INERTIAL NAVIGATION , MULTIMISSION , MULTISENSORS , OPERATING SYSTEMS(COMPUTERS) , REMOTE CONTROL , ROBOTICS , SHIP TO SHORE , THESES , WIRELESS COMMUNICATIONS


Subject Categories : Physical and Dynamic Oceanography
      Surface Effect Vehicles & Amphibious Vehicles
      Navigation and Guidance
      Bionics


Distribution Statement : APPROVED FOR PUBLIC RELEASE