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Architecture design of an autonomous docking system


M. Ambühl

Semester Thesis, HS13 (10323)

Autonomous parking in cars becomes more and more popular. However, in boats odometry is hardly possible and a boat drifts away even if the actuation is not active. Therefore, autonomous parking systems in boats are not yet available on the market. The aim of this thesis is to design an architecture for a boat which is able to maneuver to a target position without colliding with any obstacle and without being sensitive to disturbances such as wind and waves. It is geared to be built in a commercial speed boat built by an industry partner. The design is based on a model boat, which is augmented by dierent, widely available sensors for localization and collision avoidance. A GPS receiver together with a magnetometer will be used for the localization measurement and ultrasonic sensors will be used to detect obstacles. A framework is provided on which an advanced control algorithm can be implemented, tested and monitored. iii


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(13)Semester/Bachelor Thesis

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4768
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