Collision avoidance system for an autonomous sailboat

João Esteves, Luis Gomes, Aniko Costa

Research output: Chapter in Book/Report/Conference proceedingConference contributionpeer-review

Abstract

In this paper it is shown a collision avoidance system intended to be used on an autonomous sailboat scale model. The sailboat has a sequence of route points in the controller memory which are followed sequentially, as for a typical regatta contest. The system is based on a camera device named Pixy and a low-cost Arduino board. The image data obtained from Pixy is edited considering the inclination of the sailboat, wind speed, water current and sea ripple and the number of obstacles. The data is then used and considered in a function that change the next destination point in presence of a collision warning. The methods and functions were validated using MATLAB simulation and some of them implemented on Arduino.

Original languageEnglish
Title of host publicationProceedings IECON 2017 - 43rd Annual Conference of the IEEE Industrial Electronics Society
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages3539-3544
Number of pages6
Volume2017-January
ISBN (Electronic)9781538611272
DOIs
Publication statusPublished - 15 Dec 2017
Event43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017 - Beijing, China
Duration: 29 Oct 20171 Nov 2017

Conference

Conference43rd Annual Conference of the IEEE Industrial Electronics Society, IECON 2017
CountryChina
CityBeijing
Period29/10/171/11/17

Keywords

  • Arduino
  • autonomous navigation
  • autonomous sailboat
  • Collision avoidance
  • MATLAB
  • Pixy
  • Sailboat
  • Simulator

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