Michalson, William R.
Stafford, Kenneth A.
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.
Worcester Polytechnic Institute
Major Qualifying Project
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Electrical and Computer Engineering