RobotX challenge 2022: development of GPS planning and control module of surface vehicle

• Main Author: Lim, Gerald Jia Xing
• Other Authors: Xie Ming
• Format: Final Year Project
• Language: English
• Published: Nanyang Technological University 2023
• Subjects: Engineering::Mechanical engineering
• Online Access: https://hdl.handle.net/10356/168412
• Institution: Nanyang Technological University

An Unmanned Surface Vehicle (USV), which is also known as an Autonomous Surface Vehicle (ASV) is a versatile vehicle that operates on the surface of the water without the need for human intervention and control [1]. The USV uses a one or a combination of different sensors such as a Global Positioning System (GPS), Cameras, Light Detection and Ranging (LiDAR) and Ultra-Sonic Sensors to name a few. The data from the sensors are then computed by an on-board computer which tells the USV what to do. A USV is a versatile platform that can be customized to perform many different roles depending on the needs of the user. Some examples include patrolling the seas for the Navy [2] to oceanographic explorations [3]. The Maritime RobotX Challenge is a bi-yearly international, university level competition [4]. The competition is designed for students who have an interest in autonomous robotics systems in the maritime domain [4]. University students from around the world would participate in this competition and build international relationships with students from other academic institutions, and industry partners [4]. The Maritime RobotX Challenge requires all teams to use Wave Adaptive Modular Vessel 16 (WAM-V 16) surface craft manufactured by Maritime Advanced Robotics as the primary competition boat. All competitors are tasked with designing and building a USV which could complete a series of tasks. As such this report will discuss the hardware used (GPS) and programs (Planning and Control program) developed and implemented, the hardware used, and the further improvements.