PropaGator

Oral Report 2Andrew Wegener

IMDL 2012

Contents

•Objective•Current Status•Special Sensor•Questions

Objective• PropaGator is an

intelligent autonomous surface vehicle (ASV) designed to clean up the pollution in our oceans.

• PropaGator navigates to GPS waypoints that are known to have lots of pollution between them and nets are used to remove the pollutants from the ocean.

Current Status• Mechanical Design

▫Custom Fiberglass Body

▫Actuators Mounted • Electrical Design

▫Custom Controller Board

• Software Design▫Initializations Complete

Special Sensor

•GPS Waypoint Navigation▫Parse GPS Data(NMEA standard)▫Convert Data to UTM▫Rotate UTM coordinates

Y is north, X is east

Special Sensor cont.

•GPS Waypoint Navigation▫Use MicroMag3 to

determine angle between current heading and heading in line with GPS waypoint

▫Make way to the waypoint avoiding obstacles with sonar

Questions