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

• Gigliotti, Nicholas Patrick
• Wall, Ryan Edward

Publisher

• Worcester Polytechnic Institute

Identifier

• E-project-042617-234136

Advisor

• Michalson, William R.
• Stafford, Kenneth A.

Year

• 2017

Date created

• 2017-04-26

Resource type

• Major Qualifying Project

Major

• Robotics Engineering

Rights statement

• In Copyright