Autopilot for a robotic boat based on an open hardware configuration
by Omar Milián Morón; Delvis Garcia Garcia; Yunier Valeriano Medina
International Journal of Embedded Systems (IJES), Vol. 14, No. 6, 2021

Abstract: This paper presents a hardware and software architecture for the autopilot configuration of the Krick Felix robotic boat. The hardware and software architecture allows obtaining the vehicle mathematical model and implementing the guidance and heading control algorithms. The autopilot is developed using a combination of the Pixhawk controller and the ArduPilot platform. The work summarises the advantages offered by these platforms. The preliminary operational tests to which they have been subjected demonstrate the validity of their use in a marine vehicle. The obtained results from the conducted experimental tests show the autopilot's excellent performance with the proposed changes in the software implementation, particularly in the guidance algorithm.

Online publication date: Thu, 24-Feb-2022

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