Thrusters: Blue Robotics T200
Power System: Li-4S 14.8V 18Ah
Teleoperation: FrSky Taranis X9D Plus
Processor: NVIDIA Jetson TX2
LiDAR: Velodyne VLP-16
INS: VectorNav VN-300
Camera: ZED Camera
Hydrophones: Teledyne TC4013, Aquarian H1C
RF Modules: Digi XTend
ROS Interface
Python, C++
Development of an adaptive sliding mode controller for speed and heading control
Implementation of a time-varying look-ahead distance line-of-sight guidance law for path-following control
Improvement of the USV-station communications
Reorganization of the overall software architecture of the system
Research in AI methods for guidance and control
Development of 3D vision-based guidance methods for RoboBoat task solutions
Development of a simulation environment for digital twin testing
Collision avoidance strategy based on velocity obstacle method