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

Autonomous GPS-Based Marine Search and Rescue Vehicle Worcester Polytechnic Institute Department of Electrical and Computer Engineering Department of Robotics Engineering Advisor: R. James Duckworth Co-Advisor: David Cyganski Alex Kindle Justin Stocker

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 Victim Unit • Autonomous operation • GPS-based navigation • Victim Rescue Rescue Boat Victim 5 Mothership

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

Rescue Vehicle Chassis • Requirements – Ease of interfacing • Standardized parts • Purchasing vs. building Stock RC unit - Removed – Focus on ECE aspects of design • AquaCraft Mini Rio Steering Servo Controlled by Development board 7

Rescue Vehicle Control • Development board – ATMega2560 CPU – Servo headers – Timer IO broken out • H-Bridge daughterboard Wireless UART0 Timer1 Servo Rudders Wireless UART0 Timer1 Servo Rudders Development Board Development Board 8 GPS UART1 Timer2 H-Bridge Motor GPS UART1 Timer2 H-Bridge Motor

Victim Unit Victim Unit Top • Custom PCB GPS Receiver – ATMega164 CPU – Power circuitry Wireless – GPS module Radio – Wireless module CPU 9 1 inch Victim Unit Bottom

Navigation Software • Host software Serial Port Serial Port – Java GPS Serial Parser – Graphical interface Rescue Vehicle Rescue Vehicle Victim Stream Victim Stream – Navigation control loop Stream Stream Navigation Navigation Handler Handler Victim GPS Rescue Vehicle GPS Mothership Rescue Rescue Rescue Rescue Rescue Vehicle Commands Vehicle Display Vehicle Display Vehicle Vehicle 10 Comm Comm

Full Rescue Scenario 11

Video Demonstration 12

Demonstration Results 13

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 14 • VOR • Ultrasonic

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 15

Questions? 16