Project Title

Aquatic Autonomous Trash Collector

Academic department under which the project should be listed

SPCEET - Electrical and Computer Engineering

Faculty Sponsor Name

Billy Kihei

Abstract (300 words maximum)

The Autonomous Aquatic Trash Collector (AATC) follows a predetermined path in a body of water, collecting all surface level trash and trash just below surface level. A set of waypoints is given to the AATC and a peer pursuit algorithm is used to determine the path the AATC should follow. By relaying GPS location data to the AATC, it determines where itself is in relation to the given waypoints and will determine the best path to the closest waypoint (barring the one it just left). After determining the best course to reach the next waypoint, the AATC moves the rudder accordingly, only needing the throttle to be controlled manually. The rudder moves by sending a PWM signal to the servo controlling the rudder. An onboard mux circuit is used to switch from the default autonomous mode to manual mode. The switch in the mux is activated using a remote api server.

Disciplines

Computer and Systems Architecture | Digital Circuits | Digital Communications and Networking | Electrical and Electronics | Hardware Systems

Project Type

Poster

How will this be presented?

Yes, synchronously via Teams

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Aquatic Autonomous Trash Collector

The Autonomous Aquatic Trash Collector (AATC) follows a predetermined path in a body of water, collecting all surface level trash and trash just below surface level. A set of waypoints is given to the AATC and a peer pursuit algorithm is used to determine the path the AATC should follow. By relaying GPS location data to the AATC, it determines where itself is in relation to the given waypoints and will determine the best path to the closest waypoint (barring the one it just left). After determining the best course to reach the next waypoint, the AATC moves the rudder accordingly, only needing the throttle to be controlled manually. The rudder moves by sending a PWM signal to the servo controlling the rudder. An onboard mux circuit is used to switch from the default autonomous mode to manual mode. The switch in the mux is activated using a remote api server.

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