Autonomous Buoy Project

Overview

Setting buoys to define a racing course for sailing team practices is particularly challenging on lakes where there are significant changes in wind direction. To address this issue and enhance our ability to create intricate racing courses, I started designing a buoy equipped with a dynamic feature that would enable remote controlled motion from a ground station.

This buoy incorporated an Arduino-controlled system, enabling it to compute its position and drift velocity using GPS coordinates. The propulsion system afforded the buoy the flexibility to remain stationary or traverse to a specified new location. Its extended battery life contributed to prolonged operational periods, and its lowered center of mass ensures passive stability even in extreme conditions. The buoy's tall superstructure and top-mounted lights enhanced visibility over long distances.

The communication with the ground station relied on a 2.4 GHz RF transceiver that received instructions from another Arduino. This secondary Arduino processed data input from automated sensors, including a wind station and manual input. This integrated system allowed for precise control and adaptability, overcoming the challenges posed by changing wind patterns during sailing team practices.

Buoy Heading and Course Display

Used to determine relative intended course vs actual course.
Used to determine which motor to turn on to move towards indicated direction
Provided Python based code to convert to C for Arduino use

Design Requirements:

Physical
- Floats on Water
- Passively Stable
- Multi Hour run-time
- Energy Efficient Propulsion Method
- Can handle high 20+ mph winds
- Flashing Lights on top
- GPS on top
- Waterproof Container for Electronic

Electronic
- Can accurately pinpoint GPS position
- Can give Compass heading
- Can be remote controlled

Software
- Self Correcting Position
- Can adjust position based
- Autonomous

Design Decisions:

Structure at the top needs to be tall for visibility
Structure Top has a oil rig design to allow easy passage of air through it
Buoy resembles an Oil Rig for Texas A&M Sailing team
4 aquarium pumps were determined to be easiest method of propulsion
Aquarium pumps are the most waterproof propulsion method at this scale
15W 12V DC motors provided minimum power output for movement in bad weather conditions
Selected a Tall/Skinny 12V sealed Lead Acid battery to help lower center of mass of the buoy
PETG is better than PLA for 3D printing things that will be on the water
Hooks and Rope was determined to be easiest method of attachment for battery due to 3D printing Constraints
Zip Ties holding aquarium pumps are the simplest way of securing pumps to the base
A PVC tube will be used to guide wires from the top of structure to the electronics box

Plan/Steps:

Plan Design and Electronics
Choose Parts and Method of Manufacturing
Buy Parts
Start testing parts individually
Begin assembling all of the different parts individually

Technical Milestones:

Buoy capable of calculating and communicating GPS location
Buoy capable of calculating how to get to ideal location
Buoy capable of getting to ideal location

A waterproof electronic box was selected to prevent water intrusion while keeping it fairly accessible for easy debuging
Arduino can take 12v DC input voltage so no need to change power supply
Relay will work of 12v DC and receive 5v signal from the Arduino
License Plate Lights selected because they are waterproof, relatively cheap, and run on 12v
We need to turn on 4 pumps, the 4 lights as one so need 5 relays total
Buy an SD card reader to help troubleshoot and record useful data
SD card reader will go on ground station to free up pins on buoy

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