Analyzing Test Data
After the dust settled on some of our initial testing, the team thought to compare the performance of the MATLAB model I had developed to the test data taken in the field. We would compare the path following for the same set of way points to see how well we did. The way points and controller use a threshold of 5 meters, represented by the circles below. Here is a screen shot of the output, and you can see the model worked fairly well.
Testing in Miami
Members of the team flew to Miami in order to test the system portability and meet our stakeholder, Dr. John McManus. The system was checked at the airport and battery cells were carried in our backpacks. While we did get stopped by security for a second check, the trip went smoothly. The system survived the trip and we were able to deploy at a fossilized coral reef at Crandon Park Beach. Here we also met our stakeholder and got his feedback, which was all positive. Unfortunately, our communications stopped before we moved on to autonomous testing, so all we have from that trip is remote control tests. However, the trip did prove something useful. Our stakeholder confirmed the conditions of that day were very characteristic of actual conditions the system would see and the system performed well. Check out my YouTube channel (link in portfolio) for videos!
The Final Result
At the engineering school wide design fair, our project received an honorable mention. The projects were all amazing and we were happy with the result, and happy to have completed a successful senior project!