ERON: A PID controlled autonomous surface vessel

Abstract

Aquatic unmanned robotic systems have gained popularity due to their abilities to perform a wide range of applications at low cost and no risk to human lives. This research investigates the development of the navigation system of “HPftN”, an Autonomous Surface Vehicle (ASV). The PID control system composed of 3 Arduino UNO boards, a GPS, a Compass and 4 thrusters can navigate the 2,86 meter long and 0,7 meters wide vessel, at speeds of 3-4m/s with an accuracy of less than one meter. Due to its flexible architecture, available onboard payload space, and powerful thrusters, this platform can easily accommodate the integration of various sensors and scientific equipment for a wide range of applications involving water sampling, temperature and salinity measurements to border patrol and monitoring, independent of weather conditions.