Autonomous Surface Vehicle Simulation

Midshipman Researcher(s):2/C Kelly Klettner

Adviser(s): CDR Paul Frontera and Professor Matthew Feemster

Poster #103

This project developed a hardware-in-the-loop (HIL) environment for use with autonomous maritime vehicles. Specifically, the response of a surface vehicle due as a reaction to thrust forces. The simulation loop can be used to test control functions on a microcontroller without having to use hardware, which is applicable to a classroom environment. Hardware-in-the-loop simulates the surface vehicle's dynamics, which are passed to the controller; this provides a time and cost effective method for testing different controllers. The system is significantly modular in that vessel's dynamics, the environmental noise contributors, and sensor readings can all be altered.

Full Size Robotics and Controls Engineering #103