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| 2.95 MB | Adobe PDF |
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Abstract(s)
De entre os veículos de superfície não tripulados existentes, os veleiros autónomos são uma tecnologia promissora para missões persistentes e de longa duração. Esta dissertação de mestrado incluiu o melhorar e construir constituintes estruturais e sensores do veleiro autónomo “Barlavento” da Escola Naval, com recurso à modelação e impressão 3D e maquinação por comando numérico computorizado. Paralelamente, foi implementado e validado um algoritmo de comando e controlo, bem como incrementada a fiabilidade do mesmo durante a sua navegação autónoma. Foram integrados novos sensores e hardware, e estabelecidas comunicações externas no protocolo NMEA1 0183, por forma a garantir a compatibilidade com software opensource. Por último são apresentados testes e resul-tados das provas de mar.
Among existing unmanned surface vehicles, autonomous sailboats are a promising technology for persistent and long-term missions. This work included the improvement and construction of structural components and sensors of the Naval Academy “Bar-lavento” autonomous sailboat, using 3D modeling and printing besides computer numer-ical command machining. At the same time, a command and control algorithm was im-plemented and validated, as well as its reliability during its autonomous navigation. New sensors and hardware have been integrated and external communications have been es-tablished using the NMEA 0183 protocol to ensure compatibility with opensource soft-ware. Lastly, tests are presented and results from sea trials.
Among existing unmanned surface vehicles, autonomous sailboats are a promising technology for persistent and long-term missions. This work included the improvement and construction of structural components and sensors of the Naval Academy “Bar-lavento” autonomous sailboat, using 3D modeling and printing besides computer numer-ical command machining. At the same time, a command and control algorithm was im-plemented and validated, as well as its reliability during its autonomous navigation. New sensors and hardware have been integrated and external communications have been es-tablished using the NMEA 0183 protocol to ensure compatibility with opensource soft-ware. Lastly, tests are presented and results from sea trials.
Description
Keywords
Veleiro autónomo Impressão 3D Comando numérico computorizado Comando e controlo NMEA