docComputer Vision State Estimation Arduino Propulsion Motor
download 
Report Transcription
Computer Vision State Estimation Arduino Propulsion Motor
tAuth The Propulsion & Control of an Autonomous Underwater Vehicle ROBOTICS Authors: Matthew Mayers, Michael King, Nick Speal, Patrick Abouzakhm Objective Supervisor: Professor Meyer Nahon | Client: McGill Robotics Design and implement the propulsion and control system for an Autonomous Underwater Vehicle Closed-Loop PID Competition Computer Vision The AUVSI Foundation & ONR's 17th Annual International RoboSub Competition in San Diego, CA Manufacturing CNC Milling Conventional Simulation CAD Model State Estimation Gazebo Simulation Environment Planner Characterization Controls Thrust Mapper Testing Apparatus Arduino 5 DoF Propulsion Motor Controller 3D Printing Lasercutting Force v. Voltage Curve Testing Heave Yaw Propulsion Sway Surge Pitch Buoyancy & Control Test in the McGill Pool