Yıl 2020, Cilt 10 , Sayı 1, Sayfalar 101 - 111 2020-03-01

Design and Implementation of Autonomous Surface Vehicle for Inland Water
İç Sular İçin Otonom Suüstü Araç Tasarımı ve Uygulaması

Haluk BAYRAM [1]


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.

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.

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Birincil Dil en
Konular Mühendislik, Elektrik ve Elektronik
Yayımlanma Tarihi Mart-2020
Bölüm Elektrik Elektronik Mühendisliği / Electrical Electronic Engineering
Yazarlar

Orcid: 0000-0002-7883-0077
Yazar: Haluk BAYRAM (Sorumlu Yazar)
Kurum: İSTANBUL MEDENİYET ÜNİVERSİTESİ
Ülke: Turkey


Teşekkür We are grateful for the financial and logistical support of ENARGE and the contribution of Ali Akdemir, M. Salih Aydoğan, Kamil Çalışkan and Anıl Gürses to the ground station, mechanical design, speed control circuit, and electrical design, respectively.
Tarihler

Başvuru Tarihi : 4 Kasım 2019
Kabul Tarihi : 28 Kasım 2019
Yayımlanma Tarihi : 1 Mart 2020

Bibtex @araştırma makalesi { jist642503, journal = {Journal of the Institute of Science and Technology}, issn = {2146-0574}, eissn = {2536-4618}, address = {}, publisher = {Iğdır Üniversitesi}, year = {2020}, volume = {10}, pages = {101 - 111}, doi = {10.21597/jist.642503}, title = {Design and Implementation of Autonomous Surface Vehicle for Inland Water}, key = {cite}, author = {BAYRAM, Haluk} }
APA BAYRAM, H . (2020). Design and Implementation of Autonomous Surface Vehicle for Inland Water. Journal of the Institute of Science and Technology , 10 (1) , 101-111 . DOI: 10.21597/jist.642503
MLA BAYRAM, H . "Design and Implementation of Autonomous Surface Vehicle for Inland Water". Journal of the Institute of Science and Technology 10 (2020 ): 101-111 <https://dergipark.org.tr/tr/pub/jist/issue/52503/642503>
Chicago BAYRAM, H . "Design and Implementation of Autonomous Surface Vehicle for Inland Water". Journal of the Institute of Science and Technology 10 (2020 ): 101-111
RIS TY - JOUR T1 - Design and Implementation of Autonomous Surface Vehicle for Inland Water AU - Haluk BAYRAM Y1 - 2020 PY - 2020 N1 - doi: 10.21597/jist.642503 DO - 10.21597/jist.642503 T2 - Journal of the Institute of Science and Technology JF - Journal JO - JOR SP - 101 EP - 111 VL - 10 IS - 1 SN - 2146-0574-2536-4618 M3 - doi: 10.21597/jist.642503 UR - https://doi.org/10.21597/jist.642503 Y2 - 2019 ER -
EndNote %0 Iğdır Üniversitesi Fen Bilimleri Enstitüsü Dergisi Design and Implementation of Autonomous Surface Vehicle for Inland Water %A Haluk BAYRAM %T Design and Implementation of Autonomous Surface Vehicle for Inland Water %D 2020 %J Journal of the Institute of Science and Technology %P 2146-0574-2536-4618 %V 10 %N 1 %R doi: 10.21597/jist.642503 %U 10.21597/jist.642503
ISNAD BAYRAM, Haluk . "Design and Implementation of Autonomous Surface Vehicle for Inland Water". Journal of the Institute of Science and Technology 10 / 1 (Mart 2020): 101-111 . https://doi.org/10.21597/jist.642503
AMA BAYRAM H . Design and Implementation of Autonomous Surface Vehicle for Inland Water. Iğdır Üniv. Fen Bil Enst. Der.. 2020; 10(1): 101-111.
Vancouver BAYRAM H . Design and Implementation of Autonomous Surface Vehicle for Inland Water. Journal of the Institute of Science and Technology. 2020; 10(1): 111-101.