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- Our software utilizes ROS, open source software that allows for quick, modular, and distributed design; our powerful simulator uses Gazebo, and facilitates testing of all algorithms prior to deployment on the physical system.
-NaviGator has multiple redundant systems, a strong and readily adaptable mechanical system (including both passive and active electronic cool components), several commercial off-the-shelf technology devices, many UF student-designed circuit boards, and rigorously simulated and tested software systems.
-With over 250 hours of in-water testing, over 2000 hours of simulated testing, and a robust codebase reforged in the fires of Virtual RobotX 2022, NaviGator AMS is ready for the 2022 RobotX competition.
-NaviGator AMS is a set of maritime vehicles built by students in the Machine Intelligence Laboratory (MIL) at the University of Florida (UF) for the Maritime RobotX competition.
-The main autonomous vehicle that constitutes the NaviGator AMS project is built upon a WAM-V boat. Other maritime systems will also be utilized for this project.
-We will be competing at the upcoming RobotX competition in Sarasota 2024!
-This video was made for the 2022 RobotX competition!
-Our team is composed of students from various disciplines at the University of Florida. We are a group of passionate individuals who are dedicated to the development of autonomous maritime systems.
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- Erik de la Iglesia is a MIL alumnus who graduated with his BS from the University of Florida in 1996 and his MS from Stanford University in 1997.
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+Our software utilizes ROS, open source software that allows for quick, modular, and distributed design; our powerful simulator uses Gazebo, and facilitates testing of all algorithms prior to deployment on the physical system.
+NaviGator has multiple redundant systems, a strong and readily adaptable mechanical system (including both passive and active electronic cool components), several commercial off-the-shelf technology devices, many UF student-designed circuit boards, and rigorously simulated and tested software systems.
+With over 250 hours of in-water testing, over 2000 hours of simulated testing, and a robust codebase reforged in the fires of Virtual RobotX 2022, NaviGator AMS is ready for the 2022 RobotX competition.
+NaviGator AMS is a set of maritime vehicles built by students in the Machine Intelligence Laboratory (MIL) at the University of Florida (UF) for the Maritime RobotX competition.
+The main autonomous vehicle that constitutes the NaviGator AMS project is built upon a WAM-V boat. Other maritime systems will also be utilized for this project.
+We will be competing at the upcoming RobotX competition in Sarasota 2024!
+This video was made for the 2022 RobotX competition!
+Our team is composed of students from various disciplines at the University of Florida. We are a group of passionate individuals who are dedicated to the development of autonomous maritime systems.
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- Team Lead
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- Mechanical Lead
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- Software Lead
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- Electrical Lead
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- Mechanical Lead, Operations
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- Software Lead
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- Electrical Lead, Operations
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- Mechanical Lead, Mechanisms
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- Software Lead
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- Drone Lead
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- Master Lecturer, ECE
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- Professor, MAE
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- PhD Candidate, MAE
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- NaviGator is equipped with a Racquetball Launcher as part of the 2024 Dock and Deliver task.
-NaviGator's electronics box contains all of its critical processing components, which allow it to think and act for itself, completing tasks totally autonomously.
-Our new Velodyne LIDAR sensor allows NaviGator to perceive the distance of obstacles. Like RADAR but with light.
-With the power of GPS, NaviGator is able to locate its precise position anywhere on the globe, an essential component of its success.
-NaviGator contains 2 stern thrusters and 2 bow thrusters, ready to speed us through all 8 tasks!
-Just as you have 2 eyes, NaviGator has 2 linked cameras, giving it unparalleled depth perception.
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-April 2022
-In 2022 Team NaviGator competed in the Virtual RobotX competition, which is like the RobotX competition but all online, winning 2nd place! With the lessons learned from VRX 2022, we began to build the foundational code for future RobotX competitions.
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- September 9th 2024
-With the RobotX 2024 competition no more than 2 months away we decided we needed to start testing now. On September 9th 2024 we embarked on the first testing session of the new school year! In the morning, we finished assembling the boat, including mechanically mounting several sensors and the computer box, securing electrical connections inside the computer box, and distributing outbound wires from the computer box to their respective sensors/actuators. Around 1, we wheeled NaviGator outside and hitched it to the ECE truck. We successfully drove it to Lake Wauburg and backed it down the driveway to the boat ramp. We deployed it, and after working through some computer issues, got the boat to move using odometry and the path planner. - We will be testing next Sunday. This week, we aim to finish code for several missions, add further reliability to our software systems, work on new electrical boards for the light tower and RF kill, and build props used for testing missions in the water. -
-September 15th 2024
-We hit the road pretty early yesteday for testing, and brought the CIMAR trailer with us with the help of some MAE faculty, Daniel Preston! This allowed us to bring our buoy props in attempt to do the demonstration task that qualifies us for the competition. After some tinkering (we forgot to turn on one of the batteries), we were able to test the mission, and found out that while object detection is working pretty well, the trajectory planner needs some work, as does the CV model. We were able to consistently detect buoys, but they were not always indexed correctly. The boat also station kept very well! The final issue was that the computer was overheating in the container, so we are switching to a water-cooled solution. - We will have some smaller scale testing this week on Wednesday, where we plan on taking just the boat and figuring out some of the path planning. Next big testing is on Sunday, 9/22, and the goal is to fix the software issues, have more mechanical props, watercool the computer, and investigate some electrical components on the boat itself. -
-September 22nd 2024
-Testing yesterday was longggg but we made some good progress and have found the next things we want to work on. The boat can now be controlled using a controller from shore, which was pretty fun to drive. We got camera data of the green spherical buoy as well as the black vertical buoy for two of the competition tasks. We also checked PID, and it had some pretty good performance, with a maximum of about 0.9 meters of pose error at any given time. Station keeping was incredibly accurate! We were also able to test the Zigbys for the remote kill, which electrical will continue to lab out this week. Software is going to be working on managing enemies and the trajectory planner in the coming week. - The water-cooling components came in today, Monday, and so the goal is to have the computer cooled better by next sunday, as well as gathering data of the light tower while we are there. Trajectory planning is also a long term goal that we would like to iron out over the next few testing sessions. The ball launcher and drone are also coming along and we hope to test them this week! -
-September 29th 2024
-Unfortunately due to the hurricane and its impact on Florida, Lake Wauburg (our usual testing site) was without power today and therefore closed. After working together to find some other lakes to test in, we settled on a lake in Marion County named Orange Lake. After configuring the LIDAR bounds to work at the new lake, we got started with testing. The enemy filter (aka, filtering out non-useful LIDAR points in front of the boat) worked better, but we were still encountering a lot of issues with the LIDAR and the underwater weeds, which rose near the surface of the lake. We think that the changes to the LIDAR filter will work at Wauburg, where the weeds aren't as high and the light is the main deterrent in getting an accurate object map of the environment. Nonetheless, we recorded some data to analyze later, to try to further improve the filtering of the LIDAR. We also briefly tested the wildlife mission, and found some ways to improve it. Thanks to everyone who came!
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- Until November 2024
-As of October 1st, 2024 this is all of the testing we've done, but we have many more sessions planned, and will update the website when we do them!
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