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MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
The SCOUT Autonomous Surface Craft
• HDPE Hull
•Battery: 12V 100AH • Max Spd: 5 KTS
•Duration: 8 Hr
• LOA: 3m
• Cruise Spd: 3 KTS
• Beam: 75cm •GVW: ~90 kg
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
meters
Testing Modem Ranging Performance
Kayak 1 Trajectory (2 and 3 anchored)
150
100
50
0
-50
-600
-400
-200
0
meters
Distance between Kayak 1 and 3
Distance between Kayak 1 and 2
800
800
GPS
Amodem
600
meters
meters
600
400
200
0
0
GPS
Amodem
400
200
1000
500
seconds
MIT Dept. of Mechanical Engineering
0
0
1000
500
seconds
MIT Computer Science & Artificial Intelligence Laboratory
AUV-Fest, June 2005 (Keyport, WA)
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
Cooperative Navigation Results
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
FAF05, Pianosa, Italy
• 2 Kayaks + 1 AUV used
for MLBL experiment
• First Data Transmission
between AUV and Kayaks
(both moving)
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
Acoustic Transmission Results
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
ASAP Experiment, Monterey Bay, August 2006
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
Slotted Data Transmission: Time Sync
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
Slotted Data Transmission: Data Transfer
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
Vehicle Tracking
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
How to compute the solutions
( x2  x1 ) 2  ( y2  y1 ) 2  r1  0
2


2
(( x2  x)  x1 ) 2  (( y2  y )  y1 ) 2  r2  0
MIT Dept. of Mechanical Engineering
MIT Computer Science & Artificial Intelligence Laboratory
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