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Hardware Setup for an Autonomous Sailing Boat


J. Eisenberg

Semester Thesis, FS 14(10337)

Althoug a lot of research is currently being conducted in the field of robotics, only little is being in the field of autonomous sailing. To cunduct research in this field, an autonomous sailing boat is developed for the "Autonomous Sailing Project" at Automatic Control Laboratory (IFA) at the ETH Zurich. Starting with an international-one-meter (IOM) RC Sailing boat, specialized electronics to enable autonomous sailing is developed and installed into the hull. The electronics contains a 200WX weather station from the Airmar Technology Corporation, which is used as a GPS and wind sensor, and a Pixhawk development platform with a 433 MHz transceiver, used as control unit which could be configured from a Ground station laptop. Using an additional printed circuit board, the 200WX and the Pixhawk communicate with each other over the National Marine Electronics Association (NMEA) 0813 protocol. The Pixhawk is programmed to initialize the 200WX for autonomous sailing and parse out the values returned by the weather station. Batteries and a voltage converter are also installed to provide power for all the systems. The boat is placed into a pool of water before and after the components are installed: this verifies that the center of gravity and the pitch angle of boat have not changed significantly.


Type of Publication:

(13)Semester/Bachelor Thesis

M. Colombino

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4776
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