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Autonomous underwater vehicle
Please use this identifier to cite or link to this item:
http://hdl.handle.net/1860/1318
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| Title: | Autonomous underwater vehicle |
| Authors: | Sevcik, Keith W.
Terrado, Kristine
Limon, Ricardo
Mathews, M. Lisa |
| Issue Date: | 26-Mar-2007 |
| Abstract: | Autonomous Underwater Vehicles (AUVs) have many applications ranging from submerged
pipeline inspection and maintenance to mapping and clearing mine fields. The purpose of this project is
to design and construct an AUV capable of navigating in 3 dimensions, and perform elementary
autonomous tasks such as obstacle detection and avoidance. The AUV would operate in shallow water
(depths of 20 ft or less). It would be suited to applications such as ship hull inspection, bridge
inspection, mapping, and photography in shallow waters. This project will provide a platform for future
development of AUVs at Drexel, namely the gradual addition of better sensing and navigating
capabilities.
The complete design for this robot requires construction and integration of several mechanical
and electrical sub-systems. A propeller driven mode of locomotion coupled with a ballast system will
allow the robot to navigate in 3 dimensions and fix its position (i.e., “hover” in one spot). A
communication scheme will be implemented to operate the vessel to depths of 20 ft with an operational
radius of 15 ft. A sensor suite comprised of accelerometers, a compass, and transducers will estimate
the robot’s orientation and detect obstacles in its path. The robot will require regulated and properly
protected power supply and electronics systems. All individual components and subsystems will be
tested on land. Following integration, the completed system will be tested in water, with the objective of
demonstrating navigational and obstacle detection capabilities. This process will be directed at
discovering design tradeoffs and areas where future research and development are needed. |
| URI: | http://hdl.handle.net/1860/1318 |
| Appears in Collections: | Senior Design Projects (COE)
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