Semester project carried out by 7th semester Medialogy students from Aalborg University. Abstract:
This paper describes how an autonomous sailboat platform was constructed and tested with a navigational algorithm. The boat was based on a previous design, with a custom wind vane design introduced and a new Inertia Measurement Unit BNO055. A Raspberry Pi 4 with the Robot Operating System (ROS) and Arduino Mega 2560 was utilized with multiple sensors and actuators, as an improvement on the previous design which used an Raspberry Pi 3.
The platform was evaluated on its sensors' performance as well as its ability to implement navigational algorithm. This was done by implementing line-following and utilizing it to sail upwind, replicating the challenge "Fleet Race" from the World Robotic Sailing Championship (WRSC). The results showed that the sensors input was not disturbed by the surrounding electronics within the hull. Line-following could not be confirmed to be successfully implemented, due to inconsistencies related to the data collection during the evaluation of the sailing platform. However, this project contributes with detailed hardware architecture and software integration for other newcomers to the field of autonomous sailing.
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