AN AUTOMATED ANCHORING SYSTEM FOR AN UNMANNED SURFACE VEHICLE

Abstract

The goal of this thesis is to simulate, design and build an automated device that allows unmanned vessels to anchor themselves in specified locations while being United States Coast Guard Navigation Rules compliant. This is a part of a larger project funded by the U.S. Department of Energy for Florida Atlantic University to build an unmanned platform with an Undershot Water Wheel on it. By simulating the environment of the South Florida Intercoastal Water Ways, forces acting on the line, anchor and the vessel are analyzed. These forces are used as the guide for the design and build of a line locking mechanism that takes the tension off the winch and a sensor package to monitor the environment the platform is in as well as control of the system. Based off experimental testing, the system was successful in handling all emulated environments with loads exceeding 150lbs of tension.