1 / 46 The Autonomous Boat Project
1 / 46 The Autonomous Boat Project. 2 / 46 The Autonomous Boat Project.
Apr 17, 2015
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1 / 46
The Autonomous Boat Project
2 / 46
The Autonomous Boat Project
3 / 46
The Autonomous Boat Project
4 / 46
Boat Controller
5 / 46
Inertial Measurement Unit (IMU)
6 / 46
Inertial Navigation
8 / 46
GPS Receptor
15 / 46
Sensor Fusion: INS/GPS + Compass
16 / 46
Boat Electronics
21 / 46
Kalman Filter Implementation
• Step 1: Initialization
)0(
)0(
)0(
)0(
)0(
)0(
INS
INSy
INSx
INSye
INSxe
INS
p
p
V
V
X
)0(ˆ
)0(ˆ
)0(ˆ
)0(ˆ
wz
ay
ax
iasb
iasb
iasb
iasB
87654321 ,,,,,,,diag)0( P
22 / 46
Kalman Filter Implementation
• Step 2: Propagation of the INS state and its covariance matrix
Read IMU:
Calculate:
Calculate:
Calculate:
)(
)(
)(
)(
KTw
KTa
KTa
KTU
zm
ybm
xbm
UMI
)(ˆ)()( KTiasBKTUKTU UMIINS
IBTQBAPAP TEdK
Ed
TEdK
EdK ))(()(1
)(),(1 KTUKTXfTKX INSINSINS
23 / 46
Kalman Filter Implementation
• Step 3: INS updateCalculate:
1])([)( KTE
KETE
KK RCPCCPG
KE
KxK PCGIP ][ 88
)()(
)()(
)()(
KTKT
KTpKTp
KTpKTp
YBUSINS
GPSy
INSy
GPSx
INSx
K
)(ˆ0ˆ 1,5
KKK
EK YG
iasBX
24 / 46
Kalman Filter Implementation
Calculate:
)(
)(
)(
)(
)(
)()(
5
4
3
2
1
Kx
Kx
Kx
Kx
Kx
KXKX
E
E
E
E
E
INSINS
)(
)(
)(
)(ˆ
8
7
6
Kx
Kx
Kx
KiasBE
E
E
26 / 46
Boat Mathematical Model
w
VsenV
senVV
VmKVsignVw
mFDFFVsignVw
JwKwsigndFF
p
p
V
V
w
yx
yx
yyyx
xedxy
zed
y
x
y
x
cos
cos
)/)((
)))(((
))()((
2
2
29 / 46
Boat Controller
30 / 46
Actuators
M1 = left DC motor; M2 = right DC motor
Possible Actions:
1= turn forward, 0 = turn off; -1 = turn backward
32 / 46
Learning Control Actions
33 / 46
Learning Automata (LA) Algorithm
MIN
MIN
se,1
se,1)(
JiJ
JiJir
kkxPirkkxP ASAS ,)(1,
where:
i = iteration number;
k = step for iteration i;
= learning rate.
34 / 46
Learning Automata (LA) Algorithm
Np
jAA jkxPkxSUMP
1
,
kxSUMP
jkxPjkxP
A
AA
,,
35 / 46
Learning Simulation
New Control Table
-30 -20 -10 0 10 20-25
-20
-15
-10
-5
0
5
10
15
20
25Iteração = 600/600
Posição X [m]
Pos
ição
Y [
m]
0 100 200 300 400 500 6000
10
20
30
40
50
60
70
80
90
100Distância entre Barco e Alvo
Iteração
39 / 46
Comparison: Simulated and Real Systems
• Real System• Simulated System
41 / 46
Control Station
44 / 46
Loss of GPS Signal (Real Case)
45 / 46
Loss of GPS Signal (Real Case)
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