Implementation of GPS based trajectory control of an autonomous sailboat

Autonomous robotic systems are increasingly becoming a major component of modern society. In order to gain a better understanding of the capabilities of these autonomous systems, experimentation was conducted using a miniature robotic sailboat. GPS based trajectory control was implemented on this system to test the ability of the sailboat to travel to desired locations when placed in different starting positions. Ultimately, the sailboat was able to travel the desired 30 feet in the shortest amount of time when it began with its angle heading projected towards the desired location without any obstacles to avoid.

Department dc:contributor.department

Massachusetts Institute of Technology. Department of Mechanical Engineering.

Grantor dc:publisher

Massachusetts Institute of Technology

Year dc:date.issued

2013

Author dc:creator

• Wirekoh, Jackson O

Advisor dc:contributor.advisor

• John J. Leonard.

• Mechanical Engineering.

Statement dc:rights

• M.I.T. theses are protected by copyright. They may be viewed from this source for any purpose, but reproduction or distribution in any format is prohibited without written permission. See provided URL for inquiries about permission.

Licence dc:rights.uri

• http://dspace.mit.edu/handle/1721.1/7582

Language dc:language.iso

eng

Handle dc:identifier.uri

http://hdl.handle.net/1721.1/83757

OAI identifier oai:identifier

oai:dspace.mit.edu:1721.1/83757