PROJECT REPORT PHASE-1 ON

DESING OF UNMANNED SURFACE VEHICLE

Submitted in partial fulfillment of the requirement for the award of the degree Of MASTER OF TECHNOLOGY In

ROBOTICS ENGINEERING
By

GOWTHAMAN D R
(Reg. No: 1671210024) Under the guidance of

Mr. V.MANOJ KUMAR, M.E.,

(Assistant Prof (O.G), School of Mechanical Engineering, SRM University)

SCHOOL OF MECHANICAL ENGINEERING FACULTY OF ENGINEERING AND TECHNOLOGY SRM UNIVERSITY SRM Nagar, Kattankulathur 603 203 Kancheepuram District, Tamil Nadu. OCTOBER 2013
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BONAFIDE CERTIFICATE

Certified that this project report title DESIGN OF UNMANNED SURFACE VEHICLE is the bonafide work of GOWTHAMAN D R (Reg. No.: 1671210024) who carried out the project work phase I under my supervision. Certified further, that to the best of my knowledge the work reported here in does not form part of any other project report or dissertation on the basis of which a degree or award was conferred on an earlier occasion on this or any other candidate.

Signature of the Guide Mr. V.MANOJ KUMAR, M.E., Assistant Professor (O.G), School Of Mechanical Engineering, SRM University.

Signature of the HOD Dr. D KINGSLY JEBA SINGH, Ph.D. Professor, Dean, School Of Mechanical Engineering, SRM University.

Signature of Examiner 1.

Signature of Examiner 2. ii

ACKNOWLEDGEMENT
I would like to render my sincere gratitude to Dr. D. KINGSLY JEBA SINGH, professor and Dean In charge of School of Mechanical Engineering, SRM University for granting me permission to do this project.

I feel greatly indebted to my project guide Mr. V.MANOJ KUMAR, M.E., and I thank him for the deep interest he shown in this project and for motivating me to do my best.

It was a matter of great privilege and pride to carry out this project work under the guidance of Mr. M.R.STALIN JOHN, M.E.,(Ph.D), and

Mrs. R. AMBIGAI, M.E, who has been a constant source of encouragement and support for guiding me throughout the course of the phase1

I wish to express my sincere thanks to all the staff members and non-teaching staffs in Mechanical Engineering Department for their kind help during my course.

With the completion of dissertation phase1, I thank the Almighty, my parents, and extend my gratitude to all my friends who helped me make this dissertation a success.

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ABSTRACT
Unmanned surface vehicle (USV) is one of typical solution for marine application. This thesis is designing a robot which is capable of targeting through special spot, equipped with the capabilities of sending images getting on the pathway, and it is controlled by wireless communication system. These robots navigates, avoids obstacles and track the targets using camera and infrared sensor, the use of unmanned surface vehicles to collect data and perform tasks in a variety of environmental areas. A new simplified design of the unmanned surface vehicle is proposed.

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TABLE OF CONTENTS
CHAPTER NO TITLE ABSTRACT TABLE OF CONTENTS LIST OF FIGURES LIST OF ABBREVIATIONS 1 INTRODUCTION 1.1. INTRODUCTION 1.2. BACK GROUND 1.3.TYPE OF UNMANNED ROBOTS 1.4.UNMANNED ROBOTS 2 LITERATURE REVIEW 2.1CONCLUSION FROM THE REVIEW 2.2 OBJECTIVES OF THE REVIEW 3 CHAPTER TO METHODOLGY 3.1 METHODOLOGY FLOW CHART 3.2 SOLID WORK MODEL 4 DESIGN OF ROBOT 4.1. THE MARINE PLATFORM MODEL 4.2. KINEMATICS AND DYNAMICS MODEL 4.3. VIRTUAL TARGET ALGORITHM 4.4. SLIDING MODE CONTROL DESIGN 4.5. SURGE CONTROL LAW 4.6. SYSTEM IDENTIFICATION & MODELING 5 CONCLUSION 5.1. SCOPE OF THE FUTURE WORK 5.2. PROPOSAL WORK TO BE DONE IN PHASE-II 5.3. SCHEDULE FOR PHASE-II 6 REFERENCE PAGE NO iv v vi vii 1 1 1 2 3 4 5 5 6 6 7 9 9 9 10 12 13 15 18 18 18 19 20

FIGURE 3.1 3.2 3.3 4.1 4.2 4.3 4.4

LIST OF FIGURES Methodology flow chart Single boat mode Complete design of unmanned surface vehicle Mathematical models used to describe marine vessels. Vehicle parameters and frame definitions Planar model of a surface vessel with two propellers Block diagram representation of a two-input USV

PAGE NO 6 7 8 9 11 13 16

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LIST OF ABBREVIATIONS
USV ASV DOF MATLAB ARX ARMAX SI Unmanned Surface Vehicle Autonomous Surface Vehicle Degree Of Freedom Matrix Laboratory Auto Regressive with Exogenous Auto Regressive Moving Average with Exogenous System Identification

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