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<p>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.
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<br>Subjects: robotics; unmanned systems; virtual potential filed; inertial measurement unit; pressure sensors; motor control; microprocessors; Kalman filter</div>
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García, Oscar</div>
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