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Autonomous docking for speed boats


S. Scheider

Semester Thesis, HS13 (10322)

In comparison to vehicles driving on ground a boat is in uenced by many disturbances as wind and current of water. This makes a design of an autonomous docking algorithm for boats much more challenging. Based on an existing model boat and previous theses, a low level collision avoidance and a high level docking controller will be engineered. New hardware is integrated to support environment measurements and maneuver the boat at low speeds in all directions. The two independent designed controllers operate hand-in-hand to guarantee collision free docking at an arbitrary location. The project focuses the design of the the high level controller and the simulation platform to test the autonomous docking system. Furthermore, the algorithm is implemented on the on-board hardware and di erent eld tests present the actual performance of the system. The industrial partner of the project is Ganz Boats GmbH, which is looking forward integrating this system in their commercial boats. i


Type of Publication:

(13)Semester/Bachelor Thesis

N. Kariotoglou

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% Autogenerated BibTeX entry
@PhdThesis { Xxx:2014:IFA_4782
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