Student Work

Sailbot: Autonomous Robot Sailboat

Public

Downloadable Content

open in viewer

This project is a robotic sailboat that competes in the IRSC. The 2 meter fiberglass hull was constructed by the MQP team and WRC. It houses a servo actuated rudder, custom winch system, movable ballast system, keel, mast, and all the electronics. The boat uses NMEA 2000, utilizing a CAN bus for communication between custom motor controllers, sensors, debugging equipment, and the main processor. The boat has a WiFi network that allows for remote programming, control, and communications with a rigid wing sail developed by another MQP team. A Beaglebone-Black ARM processor runs the custom software inspired by ROS and written in C++. It manages all the CAN messages, instructs the motor drivers, interprets the sensors, runs control algorithms, and plans high level maneuvers.

  • This report represents the work of one or more WPI undergraduate students submitted to the faculty as evidence of completion of a degree requirement. WPI routinely publishes these reports on its website without editorial or peer review.
Creator
Publisher
Identifier
  • E-project-042717-122537
Advisor
Year
  • 2017
Date created
  • 2017-04-27
Resource type
Major
Rights statement

Relations

In Collection:

Items

Items

Permanent link to this page: https://digital.wpi.edu/show/h128ng14d