Autonomous Sailboat Prototype Sensors and Electronics Implementation with Machine Learning for Navigation

Abstract

This thesis is part of the SenSailor Project of the Facultat de Nàutica de Barcelona in which an unmanned sailboat is being built to perform scientific research in the ocean in a cost-effective manner. The thesis contributions to the SenSailor Project include the reconfiguration, communication and commissioning of sensors for environment research and navigation guidance, and the development and implementation of a machine learning model based on Deep Reinforcement Learning to actuate over the rudder and sail aileron. A virtual software environment has been developed to train and test the Artificial Intelligence model, which uses the reward of reducing the distance to a given way point as a tuning parameter. In addition, a LIDAR and a camera have been installed and configured to add computer vision for future collision avoidance navigation maneuvers. All the devices are powered by solar panels and batteries with low power techniques for self-sustainability. Finally, Wi-Fi and Bluetooth communication protocols have been developed to control the SenSailor navigation system by either the Artificial Intelligence or by human intervention.