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Talk-25: The MIT/Olin RobotX Vehicle / The Kingfisher Payload Autonomy Computer
Alon Yaari, MIT
This talk will describe MITs entry to the 2014 RobotX Challenge and will also describe the PABLO, a waterproof computer designed to implement MOOS as a back-seat interface.
In October 2014, the Office of Naval Research (ONR) and the Association of Unmanned Vehicles Systems International (AUVSI) conducted the first Maritime RobotX Challenge in Marina Bay, Singapore. Team MIT-Olin was one of 15 teams that competed, using a 16-foot WAM-V vessel provided by ONR. The team added propulsion, computing, and sensing hardware. The competition involved five tasks that required vehicles to travel between buoys, avoid obstacles, park and back out of a dock space, and localize an acoustic pinger. This talk describes the competition and how our software solutions were implemented in MOOS-IvP.
Payload Autonomy is a hardware and software solution for the front-seat/back-seat paradigm. The PABLO (Payload Autonomy Box) was developed at MIT to serve as a dedicated back-seat computing environment. The initial version of the box is designed to interface to the Clearpath Robotics Kingfisher M200 vehicle but the system can be customized to any front-seat with a known control interface. PABLO uses a Raspberry Pi and is low power, small, and features common waterproof interface connectors. PABLO boxes will be on-hand during the talk for those interested.
Categories:
- ASVs
- Payload Autonomy / Platform Interface