Autonomous vehicles are increasingly being investigated for use in oceanographic studies, underwater surveillance, and search operations. Research currently being done in the area of autonomous underwater craft is often hindered by expense. This project seeks to complete the construction, optimization, control software development of an inexpensive miniature underwater vehicle. During the course of the project all of the vehicle's mechanical, electrical subsystems and control algorithms were completed. Propeller-driven primary thrusters using a magnetically coupled drive system were optimized and manufactured. A battery powered electrical subsystem was also designed and installed on the vehicle. A simulation of the vehicle's control algorithm was developed in MATLAB.
Worcester Polytechnic Institute
Major Qualifying Project
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