Sensors and Algorithms for an Unmanned Surf-Zone Robot

LCDR Oscar Garcia, Chilean Navy

The design, construction, integration and implementation of electronics, sensors, actuators and power supplies, for a surf-zone autonomous vehicle, are presented. Physical models and lab test characterizations are used to address limitations and achieve improved performance through signal processing techniques. A deterministic centralized pooling communication protocol is designed and implemented for use over a network of microcomputers and microprocessors with limited computational resources. A series of algorithms are developed, to achieve autonomy over land and at sea. Autonomy functions include waypoint navigation, obstacle avoidance, sea to land transition, operation environment detection, depth maintenance and wireless communications; all of which support basic autonomous intelligence, surveillance and reconnaissance missions for missions over a beach front.