PropaGator Oral Report 2 Andrew Wegener IMDL 2012
Dec 26, 2015
Objective• PropaGator is an
intelligent autonomous surface vehicle (ASV) designed to clean up the pollution in our oceans.
• PropaGator navigates to GPS waypoints that are known to have lots of pollution between them and nets are used to remove the pollutants from the ocean.
Current Status• Mechanical Design
▫Custom Fiberglass Body
▫Actuators Mounted • Electrical Design
▫Custom Controller Board
• Software Design▫Initializations Complete
Special Sensor
•GPS Waypoint Navigation▫Parse GPS Data(NMEA standard)▫Convert Data to UTM▫Rotate UTM coordinates
Y is north, X is east
Special Sensor cont.
•GPS Waypoint Navigation▫Use MicroMag3 to
determine angle between current heading and heading in line with GPS waypoint
▫Make way to the waypoint avoiding obstacles with sonar