İç Sular İçin Otonom Suüstü Araç Tasarımı ve Uygulaması

Bu makale, iç sularda çalışacak düşük maliyetli ve modüler bir otonom suüstü robotunun tasarım ve gerçeklemesini ele almaktadır. Tasarım süreci üç aşamadan oluşmaktadır: Mekanik ve elektro-mekanik tasarım, elektrik ve elektronik tasarım ve yazılım tasarımı. Mekanik tasarım, dalgalı zamanlarda devrilme riskinin düşük olmasından dolayı çift gövdeli yapıya dayanmaktadır. Maliyeti düşürmek için piyasada mevcut gövdeler ve elektrikli dıştan takmalı motor tercih edilmiştir. Robot, servo motor tarafından kontrol edilen dümen sayesinde yönlendirilir. Robotun otonomisini gerçeklemek için üzerindeki bilgisayarda çalışan Robot Operating System tabanlı yazılım geliştirilmiştir. Robota ait bilgiler yer istasyon yazılımı üzerinden anlık gözlemlenebilmektedir. Geliştirilen robotik sistem, bir dizi saha deneyleriyle test edilmiştir. Sistem ayrıca mevcut tasarımlar ile de karşılaştırılmıştır. Robotun geniş güverte alanına ve modüler yazılım mimarisine sahip olması kullanıcılara, çevre izleme, gözetleme ve devriye gibi çok çeşitli uygulamalar için gerekli farklı sensörleri ve mekanik parçaları sisteme kolayca entegre etmelerini sağlamaktadır.

Anahtar Kelimeler:

Otonom suüstü aracı, otonom robotlar, saha robotiği

Design and Implementation of Autonomous Surface Vehicle for Inland Water

This paper considers the design and implementation of a low-cost and modular autonomous surface robot for inland water. The design process consists of three stages: Mechanical and electro-mechanical design, electrical and electronic design and software design. The mechanical design is based on a two-hull construction because of its low risk of capsizing in rough water. Off-the-shelf hulls and electric trolling motor are preferred to reduce the cost. The robot is steered by a rudder controlled by a servo motor. A Robot Operating System based software running on an on-board computer is developed to achieve autonomy. The robot’s status is monitored using the ground station software. The developed system was tested through a series of field experiments. The system is also compared with the existing designs. The robot’s available deck space and modular software architecture enable users to easily integrate various sensors and mechanical parts for a wide range of applications such as environmental monitoring, surveillance and patrolling.

Keywords:

Autonomous surface vehicle, autonomous robots, field robotics,

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