The National Robotics Engineering Center, the applied research lab of the Robotics Institute, has recently acquired a 27 ft SeaHawk aluminum welded boat. The boat has been converted to a test bed for maritime autonomy research, with drive by wire controls and a defined interface. The boat also has a cabin and heating/air-conditioning to facilitate year-round use for developers onboard. It is also outfitted with autonomy sensors and a positioning system.
Currently, the boat has an on-board computer that has implemented a low-level controller. This includes closed-loop heading control, open-loop throttle control, and the ability to specify way points. The vessel is ready for further autonomy development. In this project, we will develop perception and path planning algorithms and tools to enable autonomous navigation of the boat to defined destinations along the river.
Project Page: http://mrsdprojects.ri.cmu.edu/2015teamb/