Autonomous GPS-Based Marine
Search and Rescue Vehicle
Alex Kindle
Justin Stocker
Worcester Polytechnic Institute
Department of Electrical and Computer EngineeringDepartment of Robotics Engineering
Advisor:
R. James DuckworthCo-Advisor:
David Cyganski
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
• Autonomous operation
• GPS-based navigation
• Victim Rescue
5
Mothership
Rescue Boat
Victim
Victim Unit
System Overview
6
Rescue Vehicle
MCUMCU
WirelessWireless
GPSGPS
Victim Unit
WirelessWireless
GUIGUI
Navigation
Software
Navigation
Software
Mothership
Rescue Vehicle Chassis
• Requirements
– Ease of interfacing
• Standardized parts
• Purchasing vs. building
– Focus on ECE aspects of design
• AquaCraft Mini Rio
7
Stock RC unit - Removed
Steering ServoControlled by Development board
Rescue Vehicle Control
• Development board
– ATMega2560 CPU
– Servo headers
– Timer IO broken out
• H-Bridge daughterboard
8
WirelessWireless
GPSGPS
ServoServo
H-BridgeH-Bridge
RuddersRudders
MotorMotor
Development BoardDevelopment Board
UART0UART0
UART1UART1
Timer1Timer1
Timer2Timer2
Victim Unit
• Custom PCB
– ATMega164 CPU
– Power circuitry
– GPS module
– Wireless module
9
GPS
Receiver
Wireless
Radio
CPU
Victim Unit Top
Victim Unit Bottom
1 inch
Navigation Software
• Host software
– Java
– Graphical interface
– Navigation control loop
10
Serial PortSerial Port
Rescue Vehicle
Stream
Rescue Vehicle
StreamVictim StreamVictim Stream
Navigation
Handler
Navigation
Handler
Rescue
Vehicle
Comm
Rescue
Vehicle
Comm
DisplayDisplay
GPS Serial Parser
Rescue
Vehicle
Rescue
Vehicle
MothershipRescue Vehicle GPS
Victim GPS
Rescue Vehicle Commands
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
• VOR
• Ultrasonic
14
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