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Paul Drews
Missouri University of Science and Technology
Marshall Space Flight Center Robotics Academy
NASA Mentor: Alan Chow
Abstract
This project simulates a demonstration in which unmanned air and ground vehicles cooperate to accomplish autonomous surface vehicle docking. These capabilities are necessary for autonomous vehicles to haul loads and cooperate without human intervention. The simulation includes models of the MARCbot and R-Gator UGVs and Raven and Fire Scout UAVs. All simulated models have the ability to follow a list of pre-programmed waypoints. The R-Gator has the additional ability to dock with a trailer using the simulated output of an AVGS automated docking sensor. The Raven first flies in a search pattern to locate the trailer. MARCbots then deploy in order to attain greater situational awareness and allow the R-Gator to more precisely locate the trailer. Lastly, the R-Gator drives in front of the trailer, uses the docking sensor to attach to the trailer, and returns to base.
Another program in this project determines the location of an event given the time difference of arrival at 4 different base stations. This has many possible applications, including locating seismic events on the moon, finding the source of a gunshot, or using RF based location to navigate where GPS is not available.
Paul Drews graduated from the Missouri University of Science & Technology and is presently working in Hunsville, AL.
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