The Sea-Scout: A Novel Multi-Mode Autonomous Vehicle

摘要

In this paper, we present preliminary results from an undergraduate research project involving the analysis and design of a lightweight multimode vehicle capable of driving on solid ground, swimming on the surface of the water, and easily transitioning between the two. Locomotion in and out of the water is provided by paddlewheels on each side of the vehicle. The physical design of the robot optimizes efficiency in and out of the water while accommodating the necessity for stealth, compactness, and minimal weight. This project has been designed with the expectation of possibly expanding to an autonomous version of the vehicle and also the potential addition of a mechanism for climbing up ferrous surfaces, such as the hull of a ship.