Unmanned Autonomous Surface Vehicle (ASV / USV) : Nausicaa on GPS autopilot : across river

I developed a small automatic boat for the Hydrographic Department of the Port of Bordeaux as a Ph.D. thesis in control theory (robotics), . We used off the shelf equipment and designed the autopilot.
Several control solutions were evaluated (from PID to Kalman and Infinity design).
GPS before year 2000 was still jammed, so the position is not perfectly known (+- 5 meters using differential GPS).
In this video the boat navigates across the Garonne river, just outside Bordeaux. It does perform nicely despite strong current in the river.
I loved that project. Thank you Marc Chaumet-Lagrange, Stephane Ygorra, Michel Monsion.
More details see www.helenloeb.com

Category:

Science & Technology

Tags:

• unmanned
• autonomous
• surface
• vehicle
• AUV
• ASV
• robotics
• Bordeaux
• Kalman
• H2
• Hinfinity
• hydrography
• survey
• ship
• boat
• GPS
• autopilot
• french
• engineer
• nausicaa
• helen
• loeb
• helenloeb
• www.helenloeb.com
• C++
• Philadelphia
• matlab
• simulink