Project Type
group
Authors' Class Standing
Donald Bennett, Senior Robert Goring, Senior Stephen Cronin, Senior
Lead Presenter's Name
Donald Bennett
Faculty Mentor Name
Brian Butka
Abstract
The Robotics Association participates in all six major Association for Unmanned Vehicle Systems International (AUVSI) sponsored collegiate competitions. One such competition is Robosub, which is a competition for an autonomous submarine to navigate a course and complete various tasks. During the course of this competition, precision localization is necessary. While various underwater navigational solutions can be purchased, they are often extremely expensive. This project, Autonomous Dynamic Localization System (ADLS), is designed to use hydrophones and cameras to achieve localization and virtual object marking. Hydrophones would be used to localize distance from a pinger based on time delay, while cameras would be used to track the movement of fixed objects through the frame. These two data sources can be combined to calculate a current position, as well as a direction vector. Experimental tests of the vision system have been conducted, and have provided promising results.
Did this research project receive funding support (Spark, SURF, Research Abroad, Student Internal Grants, or Ignite Grants) from the Office of Undergraduate Research?
Yes
Autonomous Dynamic Localization System
The Robotics Association participates in all six major Association for Unmanned Vehicle Systems International (AUVSI) sponsored collegiate competitions. One such competition is Robosub, which is a competition for an autonomous submarine to navigate a course and complete various tasks. During the course of this competition, precision localization is necessary. While various underwater navigational solutions can be purchased, they are often extremely expensive. This project, Autonomous Dynamic Localization System (ADLS), is designed to use hydrophones and cameras to achieve localization and virtual object marking. Hydrophones would be used to localize distance from a pinger based on time delay, while cameras would be used to track the movement of fixed objects through the frame. These two data sources can be combined to calculate a current position, as well as a direction vector. Experimental tests of the vision system have been conducted, and have provided promising results.