Specs
-
Mechanical
-
Length: 1 m
-
Beam: 0.75 m
-
Mass: 30 kg
-
Maximum Thrust: 73 N
-
-
Components
-
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
-
-
Software
-
ROS Interface
-
Python, C++
-
Work Done
-
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