season starting. The team was eventually no longer able to use the pool during the times that originally had been scheduled. To account for this, one of the team members decided to offer his outdoor pool for testing the ASV. This allowed great flexibility with scheduling necessary tests. One main addition to the ASV before the competition in July is to append to the navigation routine and fix any minor electrical or software issues that may arise. The desired future navigation routines will allow the ASV to complete specific competition challenges. A final objective for the software system is to integrate parallel processing to significantly increase the processing speed of the entire software system. This is especially important for the computer vision and navigation portions, because of how demanding their software routines are. There is approximately $1600 left in the budget for this year. Moreover, $600 of it is saved for T-shirts and the hotel room to keep the vehicle in during the competition. The rest of the money will go to emergency parts in case something breaks or goes wrong during future preparations. The team is also planning on buying an i7 processor to replace the i5 chip. The i5 processor works well, however; the i7 chip will allow for even greater processing speeds for all components of the software. This is a huge upgrade that will make the navigation system run more efficiently and add the possibility for the addition of other sensors in future team efforts. Conclusion The acquired IMU and PWM data for characterizing the vehicle dynamics showed that the ASV had maximum motor outputs that were much higher than expected. Limitations had to be placed on those outputs because the ASV was moving too fast and behaving too unpredictably to make adjustments for the obstacles that were ahead. Also, the accuracy of the GPS sensor is roughly five meters. During the competition, the objects of interest will all be much smaller than
season starting. The team was eventually no longer able to use the pool during the times that originally had been scheduled. To account for this, one of the team members decided to offer his outdoor pool for testing the ASV. This allowed great flexibility with scheduling necessary tests. One main addition to the ASV before the competition in July is to append to the navigation routine and fix any minor electrical or software issues that may arise. The desired future navigation routines will allow the ASV to complete specific competition challenges. A final objective for the software system is to integrate parallel processing to significantly increase the processing speed of the entire software system. This is especially important for the computer vision and navigation portions, because of how demanding their software routines are. There is approximately $1600 left in the budget for this year. Moreover, $600 of it is saved for T-shirts and the hotel room to keep the vehicle in during the competition. The rest of the money will go to emergency parts in case something breaks or goes wrong during future preparations. The team is also planning on buying an i7 processor to replace the i5 chip. The i5 processor works well, however; the i7 chip will allow for even greater processing speeds for all components of the software. This is a huge upgrade that will make the navigation system run more efficiently and add the possibility for the addition of other sensors in future team efforts. Conclusion The acquired IMU and PWM data for characterizing the vehicle dynamics showed that the ASV had maximum motor outputs that were much higher than expected. Limitations had to be placed on those outputs because the ASV was moving too fast and behaving too unpredictably to make adjustments for the obstacles that were ahead. Also, the accuracy of the GPS sensor is roughly five meters. During the competition, the objects of interest will all be much smaller than
Final%20Paper_435.docx