Mission Tasking, Path Planning, and System Integration for an Autonomous Surface Vessel

<p>This thesis presents the design and development of a fully autonomous surface vessel for use as a research platform for the Office of Naval Research and as a competition entry to the International Maritime RobotX Challenge in 2014 and 2016. The author’s contributions to this include the development of safety systems, power distribution systems, communications software, tasking software, and planning algorithms. The results of these developments include a hardware based safety system, a modular power and health monitoring system, an easy to use autoconfiguring inter-process communications stack, a dynamic tasking engine, and a comparison of two solutions to planning with a kinodynamically constrained vehicle. Several recommendations are made for future work including combining the two planning algorithms and expanding the tasking framework to include multiple vehicles.</p>

Name thesis:degree_name

Master of Science in Mechanical Engineering

Level thesis:degree_level

Thesis - Open Access

Discipline thesis:degree_discipline

Mechanical Engineering

Year

2017

Author dc:creator

• Zuercher, Timothy

• mission tasking
• path planning
• system integration
• autonomous surface vessels
• Mechanical Engineering
• Ocean Engineering

Repository record dc:identifier

https://commons.erau.edu/edt/392

OAI identifier oai:identifier

oai:commons.erau.edu:edt-1391