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Project
For the 2010-2011 academic year, the USNA AUV team goal was to improve on last year's design.
The software architecture was improved to allow for various mission
capabilities. We updated two sensors, the Doppler Velocity Log
(DVL) and our cameras. Our vehicle now uses the self-contained
Explorer DVL by Teledyne. With an internal compass, and on-board
position calculation, the vehicle receives position and heading updates
at a rate of 5 Hz. We upgraded our cameras to Cognex 5400C cameras
that have on-board processing. We have the downward camera
set to search for the bins. In the future we plan on being able to
change targets within a mission run. We have also continued work
on heading control. Currently, the vehicle is able to turn in
place, which is an improvement from previous years, but there are still
significant oscillations that prevent the vehicle from maintaining an
ordered course. Work at the competition increased the speed and
controllability. Components and Resources |
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