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title: 'Project documentation'
disqus: hackmd
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GARP Robotic Boat
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This project focuses on an RC boat owned by the Automation, Robotics and Perception Group (GARP) of the Central University ''Marta Abreu'' of Las Villas. Adapting the RC boat into a robotic boat constitutes the first challenge to be solved.

Autonomous marine vehicles need a motion control system (SCM), which includes control and guidance algorithms. These algorithms are adjusted according to the vessel's dynamic model to carry out this type of mission. These algorithms are implemented in a hardware and software architecture responsible for ensuring the vehicle's autonomous navigation, with reliability and robustness in the challenging operating conditions that characterize the marine environment.

The autopilot is a device used to control an aircraft, a boat, or other vehicles without human intervention. The navigation, control, and guidance algorithms are implemented in this device. This implementation process requires defining a configuration that allows the integration between hardware and software.

Most of the hardware architectures designed for marine vehicles are based on a distributed system that has its independent functions. The onboard hardware unit encompasses all the elements and sensors necessary for control tasks, while the unit located on the ground is dedicated to navigation supervision. These units connect and exchange data using network protocols. Industrial computers, FPGA or other types of microcontrollers are used in the segment onboard the vessel. On the one hand, among the autopilot alternatives mentioned above, the Pixhawk has emerged as one of the best choices to be used for controlling autonomous vehicles.

On the other hand, ArduPilot has become one of the most widely used open source autopilot software in unmanned vehicles. The platform has a solution to be used in surface marine vehicles. However, achieving the accomplishment of missions that require a high degree of precision, it is necessary to incorporate new algorithms to ensure good enough performance.

The purpose of this project is to have a ship prototype where the control and guidance algorithms can be tested, for which the integration of sensors, computing units, and other elements is necessary to ensure its autonomous performance.

The RC Boat
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General Hardware Architecture
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General Software Architecture
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Sequence Diagram of implemented operation mode(ILOS). The software used for Ground Control Station is the Mission Planner.

First Test of Architecture
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