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1. #WINNER OF 1999 LAKE NORMAN WILMER CUP SAILBOAT CHAMPIONSHIP INSTALL#
2. #WINNER OF 1999 LAKE NORMAN WILMER CUP SAILBOAT CHAMPIONSHIP SOFTWARE#

Versatile marine robots speed up ocean exploration in both surface and underwater environments. Over the past decades, the invention and implementation of marine robots contribute to pushing ocean data science into a new area. Until now, humans just have only explored a limited ocean area in view of 70% of the earth's surface. Besides, our sailboat platform also facilitates readers to develop similar sailboats with more focus on their missions. The proposed design and algorithms contributed to developing educational, low-cost, micro class autonomous sailboats with accessible, generic, and flexible hardware and software. Results of fleet race, station keeping, and area scanning proved that our design and algorithms could control the 1-m class RC sailboat with acceptable accuracy. Field tests validated the sailing performance in facing WRSC challenges. A suitable line-of-sight guidance strategy and PID-based controllers were used to let the autonomous sailboat sail at user-defined waypoints.

#WINNER OF 1999 LAKE NORMAN WILMER CUP SAILBOAT CHAMPIONSHIP SOFTWARE#

Due to the complexity of introducing robot operating system and its packages, we designed a generic but real-time software architecture just using Arduino Mega 2,560. The Arduino Mega 2,560 received estimated states from Pixhawk V2.4.8 and the wind vane sensor, and then controlled servo actuators of rudder and sail using simplified algorithms. In software architecture, the Pixhawk V2.4.8 provided reliable states’ feedback. The widely used open-source hardware modules were selected to keep reliable and low-cost hardware setup to emphasize the generality and feasibility of the unmanned sailboat platform.

#WINNER OF 1999 LAKE NORMAN WILMER CUP SAILBOAT CHAMPIONSHIP INSTALL#

The commonly used 1-m class RC racing sailboat was employed to install Pixhawk V2.4.8, Arduino Mega 2,560, GPS module M8N, custom-designed wind direction sensor, and wireless 433 Mhz telegram. Thus, in this paper, a generic and flexible unmanned sailboat platform with easy access to the hardware and software architectures is designed and tested. Whereas these robotic sailboats have good performance with open-source designs, it is actually hard for interested researchers or fans to follow and make their own sailboats with these open-source designs. Over the past two decades, scholars developed various unmanned sailboat platforms, but most of them have specialized designs and controllers. 2Hubei Key Laboratory of Naval Architecture and Ocean Engineering Hydrodynamics, School of Naval Architecture and Ocean Engineering, Huazhong University of Science and Technology, Wuhan, China.

Shaolong Yang 1,2, Chuan Liu 1, Ya Liu 1, Jinxin An 1 and Xianbo Xiang 1,2*