# Project description **Name of your project**: GARP Robotic Boat **Name of your author**: Omar Milián Morón --- **Brief description of your project:** :::success 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. The overall goal is to create a low-cost (<500 EUR) prototype of a USV(Unmanned Surface Vehicle) for testing and developing algorithms of GNC(Guidance, Navigation, and Control). 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. |![](https://i.imgur.com/TB20cqw.png)|![](https://i.imgur.com/mRdjjYu.png)|| | -------- | -------- | -------- | ::: --- **Current status of your project**: :::success The goal is to create step-by-step documentation that provides sufficient information for a student to design, build, implement and do experiments on the setup. We are currently working to integrate other hardware elements such as a Raspberry Pi(for companion computer with ROS), LiDAR, and CAMERA to improve the perception of the environment. ::: --- **References to your project documentation**: :::success ArduPilot Blog for feedback of community: https://discuss.ardupilot.org/t/custom-navigation-controller-for-a-robotic-boat/90447 Project documentation - HackMD: https://hackmd.io/@5FqUxdbyQmWQY7rZTEcNWA/B1OqLZp0c GitHub branch: https://github.com/omilian1993/ardupilot/tree/Rover-4.2 ::: ## Share general feedback to the academy :::success -Besides clearly defining open hardware you also provided clear examples of succesful projects. This helped me better understand on what was to be done. -Sharing knowledge with other makers allowed for positive feedback on our project. -The lessons on project management / sustainability (and GitHub integration) are solid. ::: ### What things can we improve for next rounds Add an example project page or guide that includes all points mentioned in the figure in Documentation lesson. That provide a structured way of offering documentation.
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GARP Robotic Boat 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.

11/28/2022
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