Equation Chapter 1 Section 1Project Plan

Maritime Robotics Project: Small Autonomous Marine Vehicle (sMAV)

Student: Ryan OConnor
Supervisor: Shinsuke Matasubara
University: Australian Maritime College
Subject: !!"#$%"#& Research 'roject
Course: (achelor o) !ngineering *Ocean !ngineering+
,ate ,ue: #&
th
April -.#/
0he )ollo1ing report details the project plan )or a )easibility study o) a navigation system )or an
autonomous sur)ace vessel developed 1ith an Arduino Mega Microcomputer2 3t involves the
overall scope%aim4 project timeline4 costs and e5perimental procedure2 0he 0esting 1ill be
undertaken at the Australian Maritime Colleges Model test basin2
Research 'roject -.#/
Contents
1. Introduction/Aim
0he need )or Autonomous vehicles in the maritime industry is said to increase over the ne5t
decade 1ith over #... AU6s being procured *Marport -.#.+2 Creating a 7o1 cost AU6 1ill
enable the use o) multiple AU6s )rom one plat)orm4 increasing the data being collected2
0his is a )easibility study into a lo1 cost navigation system )or an Autonomous vessel *A6+2
0his A6 1ill be controlled using an Arduino Micro8computer2 0his research project is based on
simplicity4 as 0he Arduino is simple plat)orm to program and 1ill control the vessels movement
in the Model 0est (asin on a predetermined course2
0he vessel 1ill be have an inertial and acceleration sensors4 the data being read )rom these
sensors 1ill be )eed back into the microcomputer 1ill then be used to correct the vessels course2
0he programming o) the Arduino 1ill be done through the use o) the Arduino so)t1are provided
by the supplier o) the board4 1ith any data analysis done by the use o) Mat7ab and Microso)t
!5cel2
2. Scope
0his project involves researching and developing a lo1 cost navigation system )or an
autonomous vessel2 0his 6essel 1ill be controlled by the Arduino Mega Microcomputer along
1ith an 3nertial 9avigation System *39S+4 this microcomputer 1ill be programed to move along
a number o) set courses 1ith its ability complete this course determining the accuracy o) the
system2 (y lo1ing the cost o) the development and constructions o) AU6s 1ill allo1 )or a
gro1th in the oceanographic sector4 increasing the amount o) surveying and abilities )or
additional sensors%manipulators on the AU62
Once the model is built and programmed it 1ill be tested to determine the overall accuracy o) the
vessels ability to maintain its heading4 course and its accuracy at reaching its )inal marker2 0he
project 1ill utilise the )acilities provided by the Australian Maritime College4 1ith the testing o)
the model in the model test basin *M0(+2 0he accuracy o) the model 1ill be determined by
analysising the data )rom the M0(s stop motion video cameras2
Once the testing is complete the relevant data 1ill be analysed4 recommendations 1ill be made
as to possible 1ays o) improving the system2
3. Supervisor
Ryan OConnor -
Research 'roject -.#/
Shinsuke Matasubara: 7ecturer Australian Maritime College
4. Preliminary Literature Survey
4.1. Purpose
purpose o) any literature survey is research your o1n topic and position it 1ithin the research
done by the 1ider community4 3t also helps to )orm an understanding o) the chosen topic 1hile
)inding any gaps in research that could be )illed2 0hey also give a basic understanding o) the
topic and a possible starting point2
4.2. Reviewed Papers
7iterature relating to the development o) AU6s has been revie1ed in this 7iterature Survey2
Most papers detailing this development o) AU6s go into detail about the navigation systems
used and any sensors used4 speci)ically the inertial sensors2
7iterature 1as )ound primarily )rom the Ocean !ngineering ournal4 1ith other sources being
)ound )rom various internet 1ebsites and the library at U0AS2 Most papers detail numerous
navigational aids and sensors in AU6s4 ho1ever as this research project is a )easibility study
0he literature Revie1 1ill continue during the project4 as there are numerous journal
articles%reports that have not been covered in this initial project plan2
4.3. Summary of Papers
7o18cost AU6 based on Arduino Open Source Microcontroller (oard*(us:uets4 (us:uets et al2
-.#-+2 0his paper presents a )easibility study )or the development o) a lo1 cost AU6 using the
Arduino Open8Source microcomputer4 1hich is capable o) surveying the Mar Menor
environment and the Cartagena area coast2 0he aim o) lo1ing the cost o) AU6s is to allo1 )or
one vessel having multiple amounts instead o) just one )or the purpose o) research2 0he AU6
being developed utilises an algorithm that starts its course using interpolated points in decimal
coordinates4 it then sur)aces once it has reached its )irst marker to take the e5act position using
;'S to arrive at the ne5t point by using the on8board compass2
!5perimental 0esting o) the Mullaya AU64 *Atikins -..<+2 0his 'aper ,etails the development
and testing o) the Mullaya type AU6 used by ,S0O2 0he testing involved during this research
project allo1s )or the development o) an autonomous control system and the development o) the
< degree o) )reedom e:uations o) motion )or under1ater vehicles2 0he author derives the
e:uation )or the translational motion *motion 1ith respect to the earth+ and rotational motion
*motion 1ith respect to the origin+4 this develops < e:uations o) motion2
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3ntegrated 3nertial 9avigation Systems )or AU6s )or R!A Applications4*alving4 (ovio et al2
-../+2 0his paper discusses the importance o) AU6s )or naval applications4 1ith their abilities
to assess the environment *hydrographic%oceanographic data4 etc+ and as such it detailed the need
)or a))ordable real time data2 0he development o) an 3ntegrated 3nertial 9avigation system on the
AU6 is key )or the accuracy o) the data retrieved2 0his inertial navigation system calculates the
AU6s position through the use o) an inertial measurement unit *3MU+4 this 3MU consists o)
three accelerometers and three gyros 1hich measures the speci)ic )orce and angular rates
respectively2 A kalman )ilter is also used to eliminate the error2 ;'S4 ultra short base line
*US(7+4 7ong base line and the use o) ;'S bouys can also be used to increase the accuracy o)
the navigation system on this ;'S2
9avigation 0echnologies )or Autonomous Under1ater 6ehicles4 *Strutters -..$+20his paper
details the need )or energy e))icient systems on AU6s due to limited battery li)e onboard4 as
1ell as the need )or a high accuracy navigation system as it 1ill a))ect the :uality o) the data2
0he paper states three method )or the navigation o) an AU6= 3nertial 9avigation using
gyroscopic and acceleration sensors4 Acoustic 9avigation using long base line and ultra8short
base line4 and ;eophysical 9avigation using physical )eatures in the environment2 >igh
per)ormance 3nertial 9avigation systems re:uire the use o) )ibre8optic gyroscopes4 the
construction o) these gyroscopes increases the cost o) the system due to the di))iculties in
production2
Cooperative 7ocali?ation )or Autonomous Under1ater 6ehicles4 *(ahr4 7eonard et al2 -..&+2 3n
this paper the authors discusses ho1 the positioning navigation o) AU6s proves to be a di))icult
challenge due to the inconsistency o) ;'S2 0his paper also describes all methods )or navigation
used on AU6s4 some o) these include= (eacon 0echni:ues4 Attitude >eading Rate Sensor
*A>RS+4 ect2 A>RS consists o) a /8a5is linear acceleration sensor4 a /8a5is gyroscope and a
magnetic compass4 this is just a basic 39S 1hich contains a lot o) error and normally needs to be
pairs 1ith another sensor to eliminate this inaccuracy2
!))icient AU6 9avigation @using Acoustic Ranging and Side8scan Sonar4*@allon4 Aaess et al2
-.##+2 0his paper details a on8line nonlinear least s:uares algorithm )or multiple8sensor AU6s2
this approach to navigation )or an AU6 1as undertaken as AU6s normally operate outside the
range o) ;'S2 On this particular AU64 the relative depth4 roll and pitch are measured by using a
1ater pressure and inertial sensor leaving the motion in the hori?ontal plane to be
ascertained%estimated2 0he heading is instrumented by using a compass4 this heading in then
incorporated 1ith the inertial velocity measurements to estimate the position2 0his paper then
goes onto e5plain the Acoustic ranging can be used 1hen the AU6 only has access to a lo1 cost
;'S unit2
Cooperative AU6 9avigation using a Single Sur)ace Cra)t4*@allon4 'apadopoulos et al2 -.#.+2 3n
the paper the author details ho1 at depth ;'S can lose its signal and there)ore the B>O3
acoustic modem to e5change vehicle localisation estimates the vehicles position2 0he
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Research 'roject -.#/
!5perimental results sho1ed that the resultant position 1as vastly more accurate than the AU6s
on8board navigation )ilter2 0he author 1ould like to continue this 1ork in the )uture by e5tending
the )rame1ork )or a ne1 type o) AU6 that 1ill be completely submerged )or the duration o) the
mission2
Sensor8based 9avigation and Control o) Autonomous 6ehicles4 *'2(atista -.#.+2 this thesis
states the limitation o) sensor8based control o) an AU62 0he author states that there are three
major problems 1ith the control o) AU6s to 1hich he discusses in depth2 0he )irst section o) this
paper states the issues 1ith sensor based linear motions4 particularly linear velocities and
accelerations2 0he second section o) this thesis deals 1ith sensor8based angular motion o) AU6s4
attiude and the biases o) gyros2 0he last section covers the control o) the AU6 through the use o)
the data provided by the sensors2 0he Author brie)ly touches on Short base line and ultra8short
base line to aid 1ith the navigation o) AU6s in general2
Contributions to Automated Realtime Under1ater 9avigation4*Stan1ay -.#-+2 0his paper
presents a solution to navigation sensor alignments )ound on AU6 as 1ell as mathematical
techni:ues used )or handling measurements that are delayed by time2 As the electromagnetic
signal needed )or ;'S cannot pierce the 1ater 7(7 and US(7 along 1ith multiple sensors act as
a suitable replacement to ;'S2 3nertial 9avigation is a second order dead reckoning system4 it is
there)ore subject to dri)t%error2 0o increase the accuracy o) the 39S the author recommend paring
it 1il a gyrocompass or A>RS2 0he author also proposes terrain navigation )or the AU64
ho1ever prior mapping is re:uired )or this )orm o) navigation to be used2
0he Autonomous Redundant 9avigation System o) an AU6 )or Mine Counter Measures4*7arsen
-..<+2 0his 'aper discusses the relevance o) using AU6s )or deploying Mine Counter Measures
and that a highly accurate navigation system is re:uired4 as the types o) missions the AU6 1ill
be on 1ill result in li)e or death2 0he Author o) this paper states the 3nertial navigation is key to
the use o) AU6s2 0he use o) a Aalman )ilter combined 1ith sensors provides an ideal plat)orm
)or navigation2 7(7 adds to the 'o1er and )le5ibility o) the 3nertial 9avigation system2 Bhen
the 39S is attached to the AU6 along 1ith 7(7 and Simultaneous 7ocalisation and Mapping
*S7AM+ the accuracy 1ill be C #2. m2
4.4. Recommendations from Literature Survey
0o eliminate the noise )rom the ardu3MU 6/ a )ilter 1ill need to be 1ritten into the A6
programming to improve the accuracy o) the vessel4 this may have to be a kalman )ilter
or suitable replacement2
0here are very )e1 lo1 cost inertial driven AU6s that have a high accuracy currently
being used in industry2 0here is there)ore a need )or an accurate navigation system to be
designed )or an autonomous vehicle2
'ossible look into Ultrasonic sensors to aid 1ith the control o) the vehicle2
,evelopment o) a 9avigation algorithm 1ill be re:uired2
'ossible replacements to 7(7 and US(7 could be used to aid 1ith the motion o) the A62
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. Sc!edule and milestones
.1. "ilestones
0able sho1s the due dates o) major assessments o) the project2 0he dates are to be maintained to
ensure the task is completed on time2 @or a )ull project plan ;antt chart re)er to Appendi5 A2
Table : Milestones and due dates.
Milestone Date
'roject 'lan #&
th
April
3nterim Report -#
st
une
Model 0esting Complete /#
st
uly
ournal Article Submission /
rd
October
!5ecutive Summary
Submission /
rd
October
Supporting ,ocuments /
rd
October
Oral 'resentations -D
th
October
.2. "eetin#s
Beekly meeting 1ill be held every 1eek at #<.. on @ridays 1ith Shinsuke Matasubara2 ,uring
this meeting4 the progress o) the overall project 1ill be discussed and any :uestions raised2
Minuets )rom the meeting are to be kept and uploaded to !vernote2
.3. $vernote
0he 1eb based program !vernote 1ill be used to present any :uestions4 ideas4 backup o)
documents and as a contact point2 A 1ork log detailing times and covered 1ork 1ill also be kept
on !vernote to document the amount o) 1ork done on the project2
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Research 'roject -.#/
.4. "inimum %ar#et
A minimum target is set 1hich is to be completed by -<
th
o) une to ensure that there is ade:uate
1ork being done on the project2 0he minimum target includes to )ollo1ing=
0he model is to be built4 ready )or the program to be loaded onto the Arduino
Microcomputer2
0he 9avigation program is progressing at descent rate2
,etailed testing plan )or the model to be set in preparation )or model testing
,evelop an understanding o) the Arduino Microcomputer and the various components
and sensors re:uired in the model2
0emplate )or the journal article to be made2
,etermination o) 1ork to include in the supporting documents2
&. Arduino "icrocomputer
Arduino is an open8source electronics prototyping plat)orm based on )le5ible4 easy8to8use
hard1are and so)t1are *Arduino -.#/+2 0he Arduino microcomputer )orms the basis o) this
research project2 3t 1ill )orm the vehicle that 1ill be used in the )easibility study o) a 9avigation
system )or an autonomous vessel that could be used on land4 sea and air2
0he vehicle 1ill be a vessel that 1ill be programmed to complete a number o) tasks4 it 1ill be
designed to use inertial sensors *3MU+ to control the vessels movements2 0he )ollo1ing
components 1ill be used in the prototype2
Arduino Mega -D<.
0he Arduino Mega -D<. is a microcontroller2 0he Mega is compatible 1ith most shields
designed )or the Arduino ,uemilanove or diecimila2 Unlike previous boards that used the
@0,3 US(8to8serial driver chip4 it utilises the A0mega#<U- programmed as a US(8to8
serial converter *Arduino4 -.#/+2 0he mega 1ill be programmed using the Arduino
so)t1are )ound on the Arduino 1ebsite2
0he Arduino Mega 1ill )orm the center o) the system2 Motion ,ata )or the Ardu3MU 1ill
be sent to the Mega4 1here this data 1ill be run through the navigation algorithm 1hich
1ill control the vessels movement2
Ardu3MU 6/
0his is the 3nertial Motion unit 1hich 1ill measure the inertial accelerations o) the vessel2
0he Ardu3MU v/ has included the M'U8<... 1hich has a / a5is gyro and accelerometer
and a / a5is 3-C magnetometer *Robotics4 -.#/+2 0he data recorded )orm this this 3MU
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Research 'roject -.#/
1ill be sent to the Arduino Mega 1here it 1ill be processed2 0he Ardu3MU 6/ 1ill be
connected directly to the Arduino Mega2
U(7OF 7!A < ;'S *connects to Ardu3MU 6/+
0his is a global positioning system 1hich can be plugged in directly to the Ardu3MU v/2
0his particular ;'S has a D>? update rate4 it also has an accuracy G-2D m *Robotics4
-.#/+2 0he unit has been precon)igured to suit the Ardu'ilot Mega 20he ;'S 1ill be used
to determine the accuracy o) the 3MU4 as there 1ill be times in the real 1orld 1here a
;'S 1ill not get a signal )rom the satellites *e52 An AU6 conducting a survey under an
iceberg+2 0he ;'S unit 1ill be connected directly to the Ardu3MU 6/2
S, (reakout board *)or ,ata retrieval+
All data that the Arduino creates 1ill be 1ritten to the S, card in the S, shield4 this 1ill
get rid o) the need )or the vessel to send the data to the computer2 0his component 1ill be
1ired to the Arduino Mega via the breadboard2
!SCs *)or controlling the motors%servos+
!SCs are used to regulate the speed o) a brushless motor2 3t connects the motor to the
Arduino 1hich 1ill control the motors rpm 1hich 1ill subse:uently controls the speed o)
the vessel *6orkoetter4 -.#-+4 1hile dra1ing po1er directly )rom the battery2
Motor and Servo
0he motors and servos 1ill control the speed and direction o) the vessel2 0he motors 1ill
be controlled through the use o) an !SC connected to the Arduino Mega microcomputer4
ideally the 3MU 1ill send acceleration data to the Arduino mega 1hich 1ill then be able
to determine ho1 much the vessel has dri)ted 1hich 1ill in turn control the servo%motor
to correct its position2
0he motor 1ill be connected to the Arduino via the !SC 1ith 1ith Servo being
connected through the breadboard2
Fbee S-
0he Fbee 1ill allo1 )or 1ireless connectivity bet1een the vessel and the ground station2
3t 1ill aid 1ith uploading the program to the Arduino Mega2
Fbee (reakout board
0his breakout board 1ill connect the Fbee S- to the Arduino Mega2
Fbee !5plorer board
0he F(ee e5plorer board 1ill be connect the F(ee S- directly to the computer )or
1ireless connectivity bet1een the vessel and the computer2
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Research 'roject -.#/
'o1er distribution board )or the motors2
0his 1ill connect the !SCs to the Arduino Mega and 1ill aid 1ith po1er distribution to
the motor2
Ultrasonic sensor
A simple code 1ill be 1ritten into the program to prevent the vessel )rom colliding 1ith
any objects in the testing area2 0his ultrasonic sensor 1ill detect 1hen the vessel is on a
collision course4 the Arduino 1ill then prevent a impact )rom occurring by diverting the
vessel2 0he ultrasonic sensor 1ill be connected to the Mega via the breadboard2
All sensors 1ill be connected directly to the Arduino 1ith the motors and servos being connected
through the use o) a breadboard2 0he motors and servo 1ill re:uire resistors *to prevent
e5cessive current+ and relays to allo1 )or the motor to go in reverse2 @igure sho1s the initial
circuit diagram o) the components that 1ill be used on the model2
Figure : Circuit Diagram for the Arduino Microcomputer
'. Preliminary (ud#et
All these components 1ill be bought online )rom various distributers4 as the components are not
readily available2 0able is a list o) the components and their relevant suppliers and costs2 Spare
!SCs and motors have been ordered as these components are likely to overheat and become
damaged2 0his project 1ill be )unded by the Australian Maritime College2
Ryan OConnor &
Research 'roject -.#/
Table : List of Components and cost estimation
Component Supplier 3ndividual cost Huantity Sub8total
Ardu3MU 6/ /, Robotics E$2& # E$2&
/,R ;'S u(lo5 7!A8< /, Robotics $D2& # $D2&
!M8".<%u(lo5%M0A
Adapter Cable D/ cm /, Robotics
-2ED # -2ED
Motor AC-$/<8/D$4
$$.Av /, Robotics
-" - "$
ArduCopter !SC -. Amp /, Robotics #$ - /<
Huadcopter 'o1er
,istribution (oard8
Assembled /, Robotics
#D
# #D
F(ee -mB R'SMA 8
Series - *Iig(ee Mesh+ Spark)un -$2&D - DE2&
Antenna Spark)un &2&D - #&2&
@,03 Cable Spark)un #E2&D # #E2&D
Fbee !5plorer US( Spark)un -"2&D # -"2&D
Fbee (reakout *Arduino
Side+ Spark)un &2&D # &2&D
Mega R/ !lectron >obbies D"2&< # D"2&<
Arduino F(ee shield
1ithout R@ module !lectron >obbies #&2&D #
#&2&D
MicroS, card breakout
board Ada)ruit #D # #D
'39;+++ Ultrasonic Sensor J
Mounting (racket
'aralla5 "-2&& # "-2&&
total D/.2#
). *ull+form
).1. ,!osen *ull+form
Ryan OConnor #.
Research 'roject -.#/
As this research project is a )easibility study into a lo1 cost navigation system )or an
autonomous vessel4 a simple hull )orm is re:uired2 As the AMC has spare Catamaran hulls *seen
in @igure +4 these 1ill be utilised as they 1ill provide a stable plat)orm to mount the
microcomputer4 sensors and motors2 0he hull also needs to be stable enough to prevent e5cessive
rolling4 heaving and pitching motions4 these motions could induce and error in the 39S and the
Hualisys system2
Figure : Chosen hull form
0he hulls does not re:uire e5cellent hydrodynamic properties4 it simply needs to be able to
support the 1eight o) all the components and be light enough to )or easy maneuverability in the
1ater2 0he ,imensions o) the chosen hull are as )ollo1s in 0able 2
Table : Dimensions of one hull of the catamaran
length .2E# m
(readth .2.ED m
>eight .2.E m
0o develop an algorithm )or the 9avigation basic hydrodynamic properties need to be
ascertained2 0his 1ill be done by scanning the hulls and then running the scanned CA, model
through A9SKS C@F or Ma5sur)2
).2. -eneral Arran#ement
0he components 1ill be arranged around the vessel centerline2 0he components 1ill be arranged
to ensure that vessel trimming by the (o1%Stern leaning to1ard the 'ort%Starboard side4 to
Ryan OConnor ##
Research 'roject -.#/
con)irm that the vessel 1ill sit level in the 1ater a 1eight estimate 1ill be carried out and simple
hydrostatics pre)ormed2 Should the vessel re:uire additional ballast4 simple 1eights 1ill be
arranged to level out the boat2 0he initial 6essel ;eneral Arrangement can be )ound in Appendi5
(2
.. Ris/ Assessment
A risk assessment matri5 1as )illed out )or the duration o) this project2 0his assessment 1as done
to ensure that all possible risks that could arise during the year are ade:uately mitigated2 0his
Assessment can be seen in Appendi5 C2
10. "odel %estin#
Model testing 1ill be re:uired to test the capabilities o) the Autonomous 6essel2
10.1. %estin# 1acilities
0he testing o) the model re:uires the AMCs model test basin *M0(+2 0he M0( 1ill provide the
)acilities to allo1 )or the program to be uploaded to the Arduino microcomputer and Hualisys
digital video motion capture system2 A set o) (uoys 1ill be re:uired to mark out the course4
these buoys 1ill be pre)abricated be)ore the testing day2 0hese test 1ill also re:uire the 1ater
level o) the model test basin to be kept constant2
10.2. $2perimental "et!od/%estin# Procedure
A number o) courses 1ill be de)ined to test the model4 these 1ill be both o) a simple and
comple5 nature2 0hese tests are subject to change pending on the comple5ity o) the programming
and limitations o) the Arduino 1ith the addition o) more tests to )ully test the capabilities o) the
autonomous vessel2 0here 1ill be additional tests created )or the vessel as the programming o)
the microcomputer2
0here is no need )or the use o) the model test basins 1ave generators4 as the test is only dealing
1ith the vessels navigational ability not its Seakeeping properties2 0he use o) the Model 0est
(asins Hualisys digital video motion capture system2 0he designed test area in the model test
basin is #. mL $ m2 most tests 1ill be outside o) this range ho1ever there the error 1ill only be
#8- cm4 this error 1ill be negligible2 0he data received )rom Hualisys 1ill be analysed against
the intended path2
!ach test 1ill be run at least / times 1ith test # having at least D runs2 0his 1ill be re:uired to
average out the results and minimi?e the error )or the data analysis2
10.2.1. %est 1
Ryan OConnor #-
Research 'roject -.#/
0he )irst test 1ill involve the AU6 traveling the length o) the M0( and then back again4 sho1n
in @igure 2 0his test 1ill be used to ensure that the vessel is capable o) traveling in a straight line2
0his test 1ill re:uire at least D runs to average the results and minimi?e error2
Figure : Test Run 1
10.2.2. %est 2
0his test involves the vessel traversing the perimeter o) the model test basin as sho1n in @igure 2
0his run 1ill determine the accuracy o) the 39S by returning the vessel to its origin2 0his test
1ill be made to ensure that the vessel can complete a simple mission and return to its point o)
origin2
Ryan OConnor #/
Start
Research 'roject -.#/
Figure : Test Run 2
10.2.3. %est 3
0he third test involves the vessel completing a D". degree turn as sho1n in @igure 2 As this test
re:uires the vessel to complete a D". degree turn4 it 1ill re:uire the results to be as accurate as
possible4 this 1ill re:uire the turn be completed in the area o) the model test basin 1here the stop
motion video cameras have the highest accuracy4 the distance )rom the origin to the center o) the
circle can be altered to ensure that the turn is completed in the area o) high accuracy2
Figure : Test Run
Ryan OConnor #"
Start
Start
Research 'roject -.#/
10.2.4. %est 4
0est " 1ill test the dri)t error 1hich occurs a)ter the vessel completes its turn2 0he vessel 1ill
?ig8?ag back and )orth across the model test basin
10.2.. Additional %ests
0he vessels turning circle 1ill be analysed by using the Hualisys digital video motion capture
system at the AMCs Model 0est (asin2 0he turn 1ill need to be made in a bo5 *-m L -m+4 this
can be seen in @igure 2 0he placement o) the Marker%(uoy 1ill depend on the turning circle o)
the vessel once its complete2 Should the vessels turning circle be small enough4 the vessel 1ill
be programmed to various other test to determine the accuracy o) the vessels movement 1hilst
turning2 0his turn 1ill be made in the section o) the model test basin 1here the motion capture
cameras have the highest accuracy2
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Figure : !"ample set up for the motion capture cameras.
Ryan OConnor #<
6essels
course
Marker%(u
Research 'roject -.#/
11. 3or/s ,ited
Arduino *-.#/+2 MArduino2cc2M Retrieved #"%./4 -.#/4 )rom http:%%1112arduino2cc%2
Atikins4 ,2 *-..<+2 M!5perimental 0esting o) the Mulaya AU62M
(ahr4 A24 2 2 7eonard4 et al2 *-..&+2 MCooperative locali?ation )or autonomous under1ater
vehicles2M 0he 3nternational ournal o) Robotics Research 2#*<+: E#"8E-$2
(us:uets4 24 2 62 (us:uets4 et al2 *-.#-+2 7o18cost AU6 based on Arduino open source
microcontroller board )or oceanographic research applications in a collaborative long term
deployment missions and suitable )or combining 1ith an US6 as autonomous automatic
recharging plat)orm2 Autonomous Under1ater 6ehicles *AU6+4 -.#- 3!!!%O!S4 3!!!2
@allon4 M2 @24 M2 Aaess4 et al2 *-.##+2 !))icient AU6 navigation )using acoustic ranging and
side8scan sonar2 Robotics and Automation *3CRA+4 -.## 3!!! 3nternational Con)erence on4
3!!!2
@allon4 M2 @24 ;2 'apadopoulos4 et al2 *-.#.+2 Cooperative AU6 navigation using a single
sur)ace cra)t2 @ield and Service Robotics4 Springer2
alving4 (24 !2 (ovio4 et al2 *-../+2 3ntegrated inertial navigation systems )or AU6s )or R!A
applications2 SAC7A90C!9 con)erence proceedings )rom MR!'2
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