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As we seek to develop an autonomous solution to combat the invasive lionfish, one of the largest difficulties to overcome will be the development of a navigation program for the robot. In the development of the solution there are some constraints that must be considered which include but are not limited to: 

  1. Avoidance of the reefs
  2. Depth limits
  3. Return to start
  4. Battery Life
  5. Lionfish behavior
  6. Targeting and tracking

These constraints will prove to be challenging obstacles to overcome as we develop the most effective navigation algorithm. The basic idea of navigation will likely be something along the lines of what you might call the “roomba navigation pattern”.

The robot will begin patrolling a designated area in a specific search pattern which we will have to identify through further research. Well patrolling the robot will utilize its front cameras and the Intel Invidious compute stick in order to attempt to identify a lionfish. Once it locates the lionfish it will then enter the targeting portion(insert link to targeting page). After exiting the targeting and discharge phase the robot will then restart navigating, keeping track to maintain within its designated box. With this general idea in mind, over the course of the next year our team will seek ways to implement a similar navigation system with the aforementioned constraints in mind.