Surface Vessels Control: Case Study of a Complex Project with Related Courses

摘要

This paper addresses the development of the robotic vessel setup for academic purposes. The setup provides experimental testing of algorithms for computer vision to measure coordinates of the vessel establishing the feedback and motion control based on this feedback steering the vessel towards the given reference. The paper describes the structure of the setup and discusses problems and approaches relevant to dynamic positioning. The developed setup can be helpful for students in gaining hands-on experience in implementing the computer vision and motion control algorithms to the scaled but still real-life application.