Vol 8, No 4 (2017) > Mechanical Engineering >

Controlling Unmanned Surface Vehicle Rocket using GPS Tracking Method

Onny Sutresman, Rafiuddin Syam, Sapta Asmal


Abstract: An unmanned surface vehicle (USV) is operated on the water surface for specific purposes. USV can be used in waters that cannot be entered by crewed boats, such as environments with high levels of threat or that are contaminated by nuclear, biological, or chemical waste. USVs can also be used for surveys in shallow waters, escorting military weapons, collecting environmental data, and coordinating with other underwater vehicles such as automated underwater vehicles. This study designs and develops simple USV rockets for maneuvering on the water surface. First, a simple USV system is designed. Next, mechanical and electronic components are selected, and the control program is implemented using the Arduino Mega 2560 microcontroller. Finally, the USV motion kinematics are analyzed, rocket thrust force is tested, and torque generated by the electric ducted fan (EDF) motor is measured. Ultimately, a rocket system with weight of 3920 g and length, width, and height of 720 mm, 500 mm, and 420 mm, respectively, is developed. The USV rocket is driven by an EDF motor with voltage and current of 1600 kV and 160 A, respectively, an electronic speed control, 6X Turnigy FHSS remote control, and two 18.5 V Li-Po 5500 mAh batteries as a power source. The USV has a maximum thrust of 40.7 N with torque of 1.41 Nm. Kinematics parameters such as angular acceleration and linear acceleration were also determined.
Keywords: Control; GPS; Kinematics; Unmanned surface vehicle

Full PDF Download


Ferreira, H., Almeida, C., Martins, A., Almeida, J., Dias, N., Dias, A., Silva, E., 2009. Autonomous Bathymetry for Risk Assessment with ROAZ Robotic Surface Vehicle. In: IEEE Explore, Proc. of OCEANS 2009-EUROPE, 11-14 May 2009, Bremen, Germany

Jorgensen, K.A., 2011. State Estimation with Wave Filtering for an Unmanned Surface Vehicle. Master Thesis, Engineering Cybernetic Dept., Norwegian University of Science and Technology, Norway

Manley, J.E., 2008. Unmanned Surface Vehicle, 15 Years of Development. IEEE OCEANS, Quebec City: IEEE

Murphy, R.R., Steimle, E., Hall, M., Lindemuth, M., Trejo, D., Hurlebaus, S., Medina-Cetina, Z., 2011. Robot-assisted Bridge Inspection. Journal of Intelligent & Robotic Systems, Volume 64(1), pp. 7795

Naeem, W., Xu, T., Sutton, R., Tiano, A., 2007. The Design of Navigation, Guidance, and Control System for an Unmanned Surface Vehicle for Environmental Monitoring. Engineering for the Maritime Environment, Volume 222, pp. 6779

Richard, B.D., 1958. Fundamentals of Advanced Missiles. New York: John Wiley & Sons, Inc.

Rujian, Y., Shuo, P., Han-Bing, S., Yong-Jie, P., 2010. Development and Mission of Unmanned Surface Vehicle. Journal of Marine Science Applied, Volume 9, pp. 451457

Svec, P., Thakur, A., Raboin, E., Shah, B.B., Gupta, S.K., 2014. Target Following with Motion Prediction for Unmanned Surface Vehicle Operating in Cluttered Environments. Journal of Autonomous Robot, Volume 36(4), pp. 383405

Syam, R., 2016. Dynamics and Fuzzy Logic Method for Controlling Quadcopter. Research Journal of Applied Sciences, Volume 11, pp. 251260

Vogeltanz, T., 2016. A Survey of Free Software for the Design, Analysis, Modelling, and Simulation of an Unmanned Aerial Vehicle. Archives of Computational Methods in Engineering, Volume 23(3), pp. 449514

Wang, H., Wei, Z., Wang, S., Seng-Ow, C., Tong-Ho, K., Feng, B., 2011. A Vision-based Obstacle Detection System for Unmanned Surface Vehicle. In: IEEE 5th International Conference on Robotics, Automation and Mechatronics (RAM), Qingdao, China