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The Autonomous Boat Project

The Autonomous Boat Project. The Autonomous Boat Project. The Autonomous Boat Project. Boat Controller. Inertial Measurement Unit (IMU). Inertial Navigation. GPS Receptor. Sensor Fusion: INS/GPS + Compass. Boat Electronics. Kalman Filter Implementation. Step 1: Initialization.

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The Autonomous Boat Project

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  1. The Autonomous Boat Project

  2. The Autonomous Boat Project

  3. The Autonomous Boat Project

  4. Boat Controller

  5. Inertial Measurement Unit (IMU)

  6. Inertial Navigation

  7. GPS Receptor

  8. Sensor Fusion: INS/GPS + Compass

  9. Boat Electronics

  10. Kalman Filter Implementation • Step 1: Initialization

  11. Kalman Filter Implementation • Step 2: Propagation of the INS state and its covariance matrix Read IMU: Calculate: Calculate: Calculate:

  12. Kalman Filter Implementation • Step 3: INS update Calculate:

  13. Kalman Filter Implementation Calculate:

  14. Boat Mathematical Model

  15. Boat Controller

  16. Actuators M1 = left DC motor; M2 = right DC motor Possible Actions: 1= turn forward, 0 = turn off; -1 = turn backward

  17. Learning Control Actions

  18. Learning Automata (LA) Algorithm where: i= iteration number; k= step for iteration i; h= learning rate.

  19. Learning Automata (LA) Algorithm

  20. Learning Simulation New Control Table

  21. Real System Simulated System Comparison: Simulated and Real Systems

  22. Control Station

  23. Loss of GPS Signal (Real Case)

  24. Loss of GPS Signal (Real Case)

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