USV
Unmanned Surface Vehicles
Team AMORE has received a 16 foot Wave Adaptive Modular Vessel (WAM-V) unmanned surface vehicle (USV) in September 2021. The vehicle has since been fitted with propulsion, safety, and guidance, navigation, and control (GNC) systems.
USV Platform
Team AMORE received the WAM-V from Robonation. For more information about the WAM-V please visit Marine Advanced Robotics
Major Dimensions for the WAM-V
Beam: 96 inches (244 cm) [outside to outside]
Overall Hull Length: 154 inches (391 cm)
Ski Length: 112 inches (284 cm)
Hull Diameter: 16.75 inches (42.6 cm)
Payload: 300 lbs. (136 kg) maximum
Full Load Displacement: 560 lbs. (255 kg) estimated
Draft: 6.5 inches (16.5 cm) estimated
The information found on this page was sourced from "Owner's Operation and Service Manual Maritime RobotX Challenge WAM-V USVx" https://robonation.org/app/uploads/sites/2/2019/09/WAM-V-USVx-for-RobotX-Service-and-Operation-Manual-rev_1.pdf
Propulsion System
Components:
12V Minn Kota PowerDrive trolling motors
Teensey 3.6 microcontrollers
12 V AGM batteries
3D printed potentiometer assembly
Sensors
Sparton AHRS-M2 IMU (Donated by Sparton)
ArduSimple GPS
Pozyx GPS
Velodyne VLP-16 (Donated by Robonation)
ZED 2i
Custom built hydrophones (Coming soon)
Miscellaneous
Jetson TX2
Linkseys WiFi Router
R12DS RC Receiver
Updates in Progress
New 3 hp NEWPORT Motors
Over-actuated 4 Thrusters Configuration for Station-keeping Control
Station-keeping Controller
Differential Thrust Configuration for Heading and Speed Control
Heading and Speed Controller
