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NAVIGATION AND GUIDANCE OF AN AUTONOMOUS SURFACE
VEHICLE
by
Arvind Antonio de Menezes Pereira
A Thesis Presented to the
FACULTY OF THE VITERBI SCHOOL OF ENGINEERING
UNIVERSITY OF SOUTHERN CALIFORNIA
In Partial Fulfillment of the
Requirements for the Degree
MASTER OF SCIENCE
(ELECTRICAL ENGINEERING)
May 2007
Copyright 2007 Arvind Antonio de Menezes Pereira
Object Description
| Title | Navigation and guidance of an autonomous surface vehicle |
| Author | de Menezes Pereira, Arvind Antonio |
| Author email | menezesp@usc.edu |
| Degree | Master of Science |
| Document type | Thesis |
| Degree program | Electrical Engineering |
| School | Viterbi School of Engineering |
| Date defended/completed | 2007-04-24 |
| Date submitted | 2007 |
| Restricted until | Unrestricted |
| Date published | 2007-05-03 |
| Advisor (committee chair) |
Sukhatme, Gaurav S. Narayanan, Shrikanth S. |
| Advisor (committee member) | Caron, David |
| Abstract | This thesis describes the work done in transforming a small boat with two aft thrusters and a single rudder into an Autonomous Surface Vehicle which is capable of operation in diverse marine environments such as lakes, rivers, marinas and harbors. The sensors utilized are a Global Positioning System, a 3 degree of freedom Inertial Measurement Unit consisting of gyroscopes, accelerometers and an integrated magnetometer compass. The guidance system is aided by a stereo vision system that uses stereo disparities to make inferences about obstacles. The boat is currently being used to collect data used by a team of researchers, to study the effect of harmful algal blooms. After a brief description of the system design, we discuss the design and implementation of the heading autopilot, line of sight guidance system and the stereo vision-based obstacle avoidance system. |
| Keyword | navigation; guidance; robot; ASV |
| Language | English |
| Part of collection | University of Southern California dissertations and theses |
| Publisher (of the original version) | University of Southern California |
| Place of publication (of the original version) | Los Angeles, California |
| Publisher (of the digital version) | University of Southern California. Libraries |
| Type | texts |
| Legacy record ID | usctheses-m481 |
| Contributing entity | University of Southern California |
| Rights | de Menezes Pereira, Arvind Antonio |
| Repository name | Libraries, University of Southern California |
| Repository address | Los Angeles, California |
| Repository email | cisadmin@dots.usc.edu |
| Filename | etd-deMenezesPereira-20070503 |
| Archival file | uscthesesreloadpub_Volume32/etd-deMenezesPereira-20070503.pdf |
Description
| Title | Page 1 |
| Contributing entity | University of Southern California |
| Repository email | cisadmin@dots.usc.edu |
| Full text | NAVIGATION AND GUIDANCE OF AN AUTONOMOUS SURFACE VEHICLE by Arvind Antonio de Menezes Pereira A Thesis Presented to the FACULTY OF THE VITERBI SCHOOL OF ENGINEERING UNIVERSITY OF SOUTHERN CALIFORNIA In Partial Fulfillment of the Requirements for the Degree MASTER OF SCIENCE (ELECTRICAL ENGINEERING) May 2007 Copyright 2007 Arvind Antonio de Menezes Pereira |
