Toward an Autonomous Sailing Boat
Among autonomous surface vehicles, sailing robotics could be a promising technology for long-term missions and semipersistent presence in the oceans. Autonomy of such vehicles in terms of energy can be achieved by renewable solar and wind power sources. Autonomy in terms of sailing call will be achieved by innovative perception and navigation modules. The main contribution of this paper is to propose a whole hardware and software design for an autonomous sailing robot. The hardware architecture includes a comprehensive set of sensors and actuators also a solar panel and a wind turbine. For obstacle detection, a segmentation is performed on data coming back from an omnidirectional camera in addition to an inertial measurement unit and a sonar. For navigation and management of the vehicle, a potential-based mostly reactive path-planning approach is proposed. The specific sailboat kinematic constraints are turned into virtual obstacles to compute a feasible and optimal heading in terms of value of gybe and tack maneuver and safety relative to obstacle danger. Finally, field test experiments are presented to validate the various parts of the system.
Did you like this research project?
To get this research project Guidelines, Training and Code... Click Here