Title :
Design of an Acoustic-Homing Autonomous Surface Vessel
Author :
Cooney, L. ; Stanway, M.J. ; Augenbergs, P. ; Brundage, H. ; Downey, B. ; Pennington, T. ; Stefanov-Wagner, T. ; Tobias, D.
Author_Institution :
Dept. of Mech. Eng., Massachusetts Inst. of Technol., Cambridge, MA
Abstract :
We designed, built, and conducted trials on an acoustic-homing autonomous surface vessel. After characterizing the performance of a commercially available kayak hull, we installed power, propulsion, and control systems for autonomous operation. The acoustic tracking payload was built up from basic components. We overcame hardware limitations in the microcontrollers and demonstrated acceptable average accuracy in locating the acoustic target. This project demonstrated the feasibility of the overall goal of using a small surface vessel to follow a submerged acoustic beacon
Keywords :
microcontrollers; propulsion; remotely operated vehicles; target tracking; underwater sound; acoustic target; acoustic tracking payload; acoustic-homing autonomous surface vessel; control system; kayak hull; microcontrollers; power system; propulsion system; submerged acoustic beacon; Control systems; Frequency; Microcontrollers; Mobile communication; Payloads; Propulsion; Sea surface; Target tracking; Underwater acoustics; Underwater vehicles;
Conference_Titel :
OCEANS 2006
Conference_Location :
Boston, MA
Print_ISBN :
1-4244-0114-3
DOI :
10.1109/OCEANS.2006.307027
