OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle

A Study into the Application o the Arduino Mirco!Computer or use as a

"a#i$ation System%
Author: Ryan OConnor
Supervisor: Shinsuke Matsubara
Australian Maritime College, NCMEH
Abstract
A low cost navigation system was designed and adapted to a catamaran hull which was provided by
the Australian Maritime College. The Arduino Mega micro-controller was used in conunction with the
Ardu!M" #$ to control the direction o% the vessel, and create a %ully autonomous system. The system was
then tested at the Australian Maritime Colleges Model Test &asin, with the use o% the 'ualysis stop motion
cameras to attain the position and heading data. This (ata was then processed through the use o% Mat)ab
and E*cel to determine the accuracy o% the navigation program and the various onboard sensors. The
navigational control program o% the vessel was shown to have a considerable error and struggled to
complete the pre-programed path. The Ardu!M" #$, which was used to determine the vessels bearing,
accelerations and rotations, was shown to have very little error in determining the vessels heading with
relation to magnetic north. Along with the !M", an ultrasonic sensor was included into the system. The
ultrasonic sensor allowed the vessel to become a %ully autonomous vessel that was capable o% ma+ing
decisions based on the surrounding environment.
Keywords: A"#, Autonomous, #essel, Arduino, !M", !N,, low cost, Ardu!M" #$, Navigation
& 'ntroduction
The need for Autonomous vehicles in the maritime industry is said to increase over the next decade
ith over !""" A#$s bein% procured &Marport' ("!")* Creatin% a +o cost A#$ ill enable the use of
multiple A#$s from one platform' increasin% the amount of oceano%raphic,%eolo%ical data bein%
collected*
This paper details the desi%n process involved in creatin% a lo-cost navi%ation system to provide
autonomous control to various types of vehicles* This particular system as adapted to a small boat and
tested at the Australian Maritime Colle%es Model Test .asin* The Arduino Me%a micro-computer as
used in con/unction ith the Ardu0M# v1 to control the path of the vessel*
&%& Scope
The aim of this pro/ect as to create an autonomous vessel that as capable of makin% decisions based
on the environment that it is operatin% in* This pro/ect involved researchin% and developin% a lo cost
navi%ation system for an autonomous vessel*
The Arduino Me%a alon% ith the Ardu0M# $1 as the chosen micro-computer used in this system*
This microcomputer as pro%ramed to move alon% a number of set courses ith its ability complete this
course determinin% the accuracy of the system*
Once the model as built and pro%rammed it as be tested to determine the overall accuracy of the
vessels ability to maintain its headin%' course' and its accuracy at reachin% its final marker* The pro/ect
ill utilise the facilities provided by the Australian Maritime Colle%e' ith the testin% of the model in the
model test basin &MT.)* The accuracy of the model ill be determined by analysin% the data from the
MT.s stop motion video cameras*
!
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
Once the testin% as complete' the data received from the 2ualisys cameras and the Ardu0M# $1 as
then analysed to determine the accuracy of both the pro%ram and the Ardu0M# $1 sensor*
( )iterature Re#ie*
A literature survey as conducted to determine an application for the Arduino micro-computer* This
initial survey as done' a navi%ation application for the Arduino as chosen* A further survey into this
particular area as undertaken* A lot of this literature as found primarily from the Ocean 3n%ineerin%
4ournal' ith other sources bein% various internet /ournals' ebsites and the #niversity of Tasmanias
+ibrary*
(%& Re#ie* o Papers
5revious ork has been taken into the development of an Arduino poered autonomous underater
vehicle &A#$)* 6ithin this paper the author' .us7uets &("!()' states that by loerin% the cost of A#$s
ill introduce the ability to operate multiple A#$s from a sin%le parent vessel* 4alvin% &(""1) explains
that there is a lar%e amount of cost and effort that %oes into the development of navi%ation systems and
inertial measurement units' he also provides reasonin% behind the use of a 8alman filter to eliminate
excessive noise ithin the pre-processed data*
.ahr &(""9) discusses that there are inconsistencies ith :5S resultin% in the need for a navi%ation
system hich operates underater* ;e also details ho a basic 0<S can be used to determine the vehicles
course and displacement* =allon &("!!) dras on this statement that :5S in inconsistent' and su%%ests that
fusin% acoustic ran%in% and side-scan sonar ith the onboard navi%ation system*
(%( Summary o Papers
All papers state that a cost effective navi%ation system ill decrease the overall cost of an autonomous
system* A ma/ority of the ork is involved ithin the development of the inertial navi%ation system' this
as the drivin% force behind the development of a navi%ation system usin% the Arduino Me%a and the
Ardu0M# $1* Obstacle avoidance and a filterin% system ere also implemented into the vessel*
+ ,-perimental Set!up
Testin% the vessel re7uired the use of the Australian Maritime Colle%es Model Test .asin &MT.)
shon in =i%ure 1 -!* The Model test basin is !( m ide and 1> m in len%th and "*? m depth' hich
alloed for uninterrupted testin% of the system* The facilities at the model test basin alloed for data
collection' poer to rechar%e the batteries as ell a poer points for a laptop ith the installed Arduino
pro%ram*
+%& .ualysis
@eterminin% the accuracy of the Arduino re7uired the MT.s 2ualysis motion capture cameras*
Motion capture is the act of recordin% motion throu%h the use of an optical system* The motion capture
system at the MT. consists of ? di%ital cameras &shon in =i%ure 1 -() and a data ac7uisition and
analysis softare packa%e &AMC' ("!1)* The 2ualisys cameras have an onboard marker hich calculates
the center point of all the markers' The 2ualisys motion capture cameras hich allos for the 1@ data to
be captured of the vessels motion in real time &2ualisys' ("!1)*
The data attained from this system relates to the vessels position ithin the basin alon% ith roll' pitch
and ya an%le of the vessel* This data is then exported at filesA a 2ualisys video file and a *txt file* The
video file allos for the vessels track to be revieed after completion of the test' hile the *txt file can be
processed usin% Mat+ab and excel*
(
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
/i$ure +!&: the AMCs model test basin /i$ure +!(: 0 .ualisys motion Capture cameras on the
let side o the basin%
+%( 1estin$ matri-
Testin% as conducted to determine the vessels ability to traverse a pre-pro%rammed course* To
courses ere used durin% testin%A a path ith a sin%le !?" de%ree turn and a path ith to 9" de%ree turns*
The sin%le turn test involved the vessel travellin% forard for a set amount of time before preformin% a
sin%le !?" de%ree turn* A similar method as used for the second test' here the vessel ould travel for a
set time and then make a 9" de%ree turn' it ould then travel for another set amount of time before makin%
its second turn* The full list of tests alon% ith their full descriptions is shon in Table !*
1able &: 1estin$ Matri-
1est
1ype
"umber o
Runs 2escription
.ualysis
recordin$
345"6
S2 card
recordin$
345"6
Sin%le
turn !"
The vessel moved forard and then preformed
a !?" de%ree turn returnin% the vessel to its
ori%in B <
To
turns !"
The vessel moved in a strai%ht line and then
preformed a 9" de%ree turn folloed by a
second 9" de%ree turn* B <
Sin%le
turn !"
This test involved a !?" de%ree turn' ith the
data from the Ardu0M# is sent to an S@-card B B
As the pro%ram to rite data from the Ardu0M# $1 to the S@ card as not ready until the last day of
testin%' only !" repeats of the sin%le turn test ere made*
0 1heory
This section details the theory that as involved in the development of the navi%ation system*
0%& ,uler An$les
3uler An%les provides a representation of an ob/ects 1@ orientation usin% the rotations around the x-
axis' y-axis and C-axis &C;Robotics' ("!1) as shon in =i%ure D -1* These three rotations are knon as
Ba hich is rotation around the y-axis' pitch hich is rotation around the x-axis' and roll hich is a
rotation around the C-axis*
As these an%les are determined throu%h the use of rotations' the %yroscopic sensor on the Ardu0M# $1
is used to calculate the ya' pitch and roll*
1
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
The roll and pitch an%les of the vessel ill be i%nored as the vessel ill not be excessively pitchin% or
rollin%' these values ill be ne%li%ible in siCe* The Ba an%le of the vessel ill be used to determine the
vessels ability to maintain the pro%rammed bearin% an%le &C;Robotics' ("!1)*
0%( 4a* An$le
As the tests are lar%ely based around the analysis of the vessels bearin% around a pro%rammed course*
As the ya an%le is the rotate about the C-axis as shon in =i%ure D -D it ill %ive the bearin% of the
vessel' this ill allo for a comparison beteen the data from the Ma%netometer and the 2ualisys system*
/i$ure 0!+: ,uler an$les 37i8ipedia, (9&+6
/i$ure 0!0:the #essels 4a* is the rotation about the :!
a-is 'ma$e ta8en rom C;Robotics%
0%+ 'nertial Measurement <nit
The inertial measurement unit &0M#) is a sensor that is capable of measurin% relative velocities'
accelerations and the orientation of the ob/ect it is mounted on* They are %enerally used in con/unction
ith an inertial navi%ation system* The chosen 0M# for this pro/ect as the Ardu0M# $1*
0M#s utilise a combination of electronic accelerometers' %yroscopes and ma%netometers* The
accelerometer measures the accelerations in the x-axis' y-axis and C-axis* Accelerometers are pieCoelectric
sensors' these sensors create an electric char%e hich is dependent of the orientation and motion of the
accelerometer* This char%e is then converted into a volta%e hich can then be analysed*
The %yroscopic sensor detects chan%es in rotations about the x-axis' y-axis and C-axis* This type of
sensor is similar to the accelerometer as it used pieCoelectric sensors to convert the an%ular motions into a
readable volta%e* The final sensor on an 0M# is the ma%netometerA this sensor detects the chan%e in
stren%th and direction of a ma%netic field' and as such is capable of determinin% the direction of the
earths ma%netic force*
0%0 'nertial "a#i$ation System
As stated in .ritannic &("!1)' an 0<S is an electronic system that continuously monitors the position'
velocity and acceleration of a vehicle' usually a submarine' missile or airplane' and thus provides
navi%ational data or control ithout the need for communicatin% ith a base station* As Autonomous
underater vehicles ill experience an intermittent :5S si%nal' inertial navi%ation can aid ith %uidin%
the vehicle* The desi%ned system for this particular vessel is shon in =i%ure D ->*
D
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
/i$ure 0!=: 1he lo* o data throu$h the system
0%= 2irection Cosine Matri- ilter
A direction cosine matrix &@CM) can be used to convert any vector from a bodys &0M#) coordinate
system to the %lobal coordinate system* 0n an 0M# the accelerometer and Ma%netometer ork in a similar
ay' they both make readin% ith relation to a specific point in space* As such they re7uire an initial
calibration and corrections durin% use* .oth the accelerometer and the ma%netometer are capable of
creatin% a @CM matrix sin%ularly or to%ether' hoever this matrix has inaccuracies due to the
accelerometer and ma%netometers need for corrections' as a lot of noise ill be %enerated*
As %yroscopes have no frame or orientation' it is used in con/unction ith the accelerometer and
ma%netometer to create a corrected @CM matrix* The %yroscope is used as it has no frame of absolute
orientation* Therefore a precise readin% can be made if the orientation of the device is knon at a %iven
time &sterlino' ("!!)*
The base code for the Ardu0M# $1 contains a @CM matrix* This matrix takes the data from the 1-axis
accelerometer and 1-axis %yroscope* The pitch' roll' and ya are calculated as a result from the @CM
matrix* The Ardu0M# is desi%ned to be used ith a :5S* The :5S si%nal is then used to correct the data
from the ithin the matrix &ardu-imu' ("!")*
0%> Measured ,rror ,stimate
=or accurate results multiple runs of each test ill need to be made to reduce the uncertainty in the
results* Any data ill have biases,outliers hich ill increase the error found in the results' ith the more
tests that are conducted the results can be avera%ed and the error miti%ated*
There are to ays to cata%orise errorA Random error hich is defined as the portion of the total
measurement error that varies in the short-term hen the test is repeated and systematic error hich is
defined as the portion of the total measurement error that remains constant in the repeated tests* =or this
test the random error ill be analysed for this experiment &<ASA' ("!1)*
#ncertainty as a result of random error can be found by usin% the e7uation &"*!)* This e7uation ill
calculate the error estimate ith a 9>E confidence interval &
9>'v
t
)' ith
v
bein% the de%rees of freedom
and
9>'v
t
is found usin% a t-distribution*

9>'
ran
* v *
u t s =

To calculate the error estimate ith a 9>E confidence interval
9>'v
t
the standard deviation &
*
s ) is
re7uired* The standard deviation across all tests can be found throu%h usin% e7uation &"*()A
(
!
& )
n
+
*
+
* *
s
v
=

=


>
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
= 2esi$n and 2e#elopment
As the Micro-Computer as chosen to be the Arduino Me%a' all components ere chosen to be
compatible ith this board* There ere to aspects to this desi%n' these ereA the system desi%n hich
incorporated the development of the <avi%ation pro%ram to be used on the Me%a and the desi%n and
%eneral arran%ement of the vessel*
=%& System 2esi$n
Arduino is an open-source electronic prototypin% platform hich allos the user to create interactive
electronic ob/ects &Arduino' ("!1)* The Arduino board acts as a computer hich allos for a pro%ram to
be loaded and then run ithout the need of a computer or user inputs*
The Arduino Me%a (>F" is the microcontroller shon in =i%ure > -G* #nlike previous boards that used
the =T@0 #S.-to-serial driver chip' it utilises a (>F kb memory &Arduino' ("!1)* The Me%a re7uires a >
volt poer supply to poer the board and all its peripherals* The Me%a allos for an array of
sensors,motors to be attached and controlled accordin% the users pro%ram*
/i$ure =!>: Arduino System 2ia$ram
The Ardu0M# $1 &shon in =i%ure > -?) includes a ATMe%a 1(F processin% chip alon% ith a M5#-
F""" &hich includes a 1 axis accelerometer and a 1 axis %yro' capable of calculated the roll' pitch and
ya of the device) and the 1 axis ;MC->??1+ ma%netometer &Sparkfun' ("!1) hich is used for
determinin% the compass bearin%*
/i$ure =!?: Arduino Me$a board 3Arduino, (9&+6 /i$ure =!@: Ardu'M< V+ 3Spar8un, (9&+6
F
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
The boat as poered by a sin%le motor hich as connected into the circuit throu%h an electronic
speed controller &3SC) as shon in circuit dia%ram in =i%ure > -F* The motors chosen ere a hi%h
poered ??" k$ brushless motor' developed for use ith the Arduino 7uad-copters* @C brushless motors
ere chosen as they do not create any sparks durin% the mechanical operation of the motor &.rian' ("!1)*
They ill also decrease the complexity of the Arduino systems by eliminatin% the need of an Arduino
motor shield* The Me%a as attached to a servo motor connected to a rudder' the me%a then used the
compass data from the Ardu0M# to determine the vessels headin%*
As a precaution an ultrasonic sensor as fixed to the front of the vessel' a simple line of code as
ritten into the pro%ram to prevent the vessel from collidin% ith any sensitive e7uipment in the model
test basin' should the vessel move of its uploaded course* The sensitivity of the sensor as set to "*!> m'
should the vessel be ithin that ran%e the motor ould shut don and the servo ould turn the vessel
hard-a-port* The use of an ultrasonic senor alloed for the vessel to become fully autonomous*
The system used an S@ breakout board* This board recorded the acceleration' ya and compass data
that as bein% read from the Ardu0M# $1* The data as saved as a *txt file for post-processin% usin%
Mat+ab and excel* Only ten runs ere conducted ith the S@ breakout board connected to the Arduino*
=or these tests the Arduino as pro%rammed to complete a !?" de%ree turn*
The Arduino Me%a ill act as the central processor in the system as shon in =i%ure > -F' ith the
data from the 0M# bein% used to control the servo motor* The system dia%ram shon in =i%ure > -F is of
the system that as developed throu%h testin%*
The Arduino and its various components re7uire poer to ork* The Arduino is best suited to a > $
poer supply hile the 3SC and motor re7uired a poer supply ith a hi%her volta%e* A > $ battery bank
used to rechar%e mobile phones as chosen to poer the Arduino hich subse7uently poered the
Ardu0M# $1' servo motor' S@ breakout-board' and ultrasonic sensor* The 3SC on the other hand re7uired
at least F-!( $ to supply poer to the motor' the hi%her the volta%e the faster the motor ill turn* A !( $
battery ould have been too bi% and ei%ht too much' therefore a F $ sealed-lead acid battery as chosen
for siCe' ei%ht' and poer re7uirements*
=%( Vessel 2esi$n
The Catamaran hull shon in =i%ure > -9 as supplied by the AMC for use on this pro/ect* This hull
provided a stable platform for the Arduino Me%a and all components* As these hulls ere the AMCs
property' it as stipulated that no irreversible modification could be made to them' therefore anythin% that
re7uired bein% fixed to the hulls as done so throu%h any existin% scre holes*
As this system as operatin% in an environment here the electrical system as exposed to ater' the
system as placed in a container to prevent any ater from interferin% ith the Arduino system' in
addition to protectin% the system the container also provided a platform to mount the 2ualisys motion
balls* @urin% testin%' a substantial amount of ater as bein% carried throu%h the prop shaft and into the
container* This re7uired the shaft to be covered hile operatin%' this as done by fabricatin% a small
shield on the day*
@urin% construction consideration as taken into the position of the components* 6herever possible
the components ere arran%ed to provide a lateral and horiContal symmetrical ei%ht distribution* The
position of the components as hoever limited by the len%th of the ires and the position of the motor
and 3SC* As the motor as fixed in the forard section of the vessel alon% the centerline this re7uired the
sealed-lead battery to be positioned further forard* Additional ei%hts ere re7uired on the day of
testin% to prevent the vessel from trimmin% by the bo* The vessel tested is shon in =i%ure > -!"*
The ori%inal system desi%n involved havin% a set value for the 3SC hich kept the speed of the vessel
constant* @urin% testin% this as impractical as calibratin% the 3SC as time consumin%' this method
ould have drastically reduced the amount of tests* The problem as remedied by the addition of a
potentiometer' hich alloed for the speed of the motor to be altered ithout uploadin% a different code
for each test*
G
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
/i$ure =!A: Catamaran hull pro#ided by the AMC

/i$ure =!&9: Autonomous Vessel
.efore each test the Arduino re7uired a start-up procedure* This as re7uired to reset and recalibrate
the Ardu0M# and reset the timer on the Arduino* .efore each test the reset button on the both the me%a
and Ardu0M# ere pushed and the model as held still in the ater to prevent a buildup of drift from the
previous test* Once the Ardu0M# as recalibrated the motor as set to the desired R5M and the vessel
as left to run*
> Results
@ue to time constraints only to testin% paths ere testedA one as a simple !?" de%ree turn and the
other involved the vessel makin% to 9" de%ree turns* @ata as attained throu%h the use of the model test
basins 2ualisys motion capture system and by readin% the data bein% produced by the Ardu0M# $1*
>%& &@9 de$ree course
The first set of tests involved pro%rammin% the Arduino me%a to travel for a set amount of time and
then preform a !?" de%ree turn* =i%ure F -!! displays the variation in the Arduino Me%as ability to
complete the set task by plottin% all runs* All runs ere started at approximately -1*? m alon% the x-axis*
The end position is shon to have a lar%e variation' ith the position ran%in% from approximately -> m to
"*> m alon% the x-axis' ith the vessel both over and under turnin%*
The horiContal displacement is calculated by subtractin% the x-displacement of end of the turnin% circle
from the x-displacement of the vessels final position* This value as the error of the individual run*
Therefore if the vessel as to complete its turn at the intended bearin%' the horiContal distance ill be Cero
providin% the vessel does not drift off course hile travellin% in a strai%ht line* The data across all runs can
be found in =i%ure F -!(* The avera%e error amon% the number of runs conducted as found to be !*9> m
ith the measured error estimate ith 9> E confidence calculated as (*!! m*
?
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
/i$ure >!&&: All runs or a &@9 de$ree trac8 /i$ure >!&(: Accuracy or a sin$le &@9 de$ree turn
=or the vessel to have !"" E accuracy ith no error' it ould re7uire the horiContal displacement
beteen the end of the turn and its final position to be Cero*
>%( 1estin$ multiple turns
The second test re7uired that the vessel complete to turns durin% its operation' these turns ere both
9" de%rees* The vessel as pro%rammed to travel for a specified time before makin% the first turn' after
this initial turn the vessel as re7uired to travel for another set amount of time before makin% its final
turn* =i%ure F -!1 details all the runs made* The vessel as not capable of completin% a successful run
here to consecutive 9" de%ree turns ere made*
The initial turn as found to have a hi%her accuracy than the second turn* This is seen in both =i%ure F
-!D and =i%ure F -!>*
/i$ure >!&+: all run testin$ the Arduinos ability to complete multiple turns
The accuracy of the first turn as found the alternate beteen -(> to !" de%rees as shon in =i%ure F
-!D* The mean error of turn ! as found to be 9*"( de%rees ith the measured error estimate ith a 9> E
confidence interval bein% !F*G( de%rees*
9
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
=i%ure F -!> details the vessels ability to complete a second turn' the vessel is seen to continue turnin%
for a further (> to 1> de%rees* The mean error for the second turn as (G*>9 de%rees ith the measured
error estimated ith a 9> E confidence interval at ("*GG de%rees*
/i$ure >!&0: Accuracy o 1urn &
/i$ure >!&=: Accuracy o 1urn (
>%+ Accuracy o the Ardu'M< V+
The accuracy of the ma%netometer and onboard calculated ya on the 0M# could be determined
throu%h the use of the e7uipment at the model test basin' particularly the 2ualisys stop motion cameras*
This as done thou%h post-processin% both sets of results and compared*
=i%ure F -!F has the accuracy of the ma%netometer shon as a percenta%e for all runs made ith the
system ritin% the data to the* The error of the ma%netometer is very lo' alternatin% beteen "*> E to
(*GE* @urin% these tests the vessel did not complete the turn once it had reached the specified bearin%'
this hoever ould not affect the data from the Ardu0M# hence hy it can be compared to the 2ualisys
results* The ma%netometer had a mean deviation of !*DD de%rees ith the measured error estimated ith a
9> E confidence interval at !*G1 de%rees
The data received relatin% to the ya had a much lar%er error ran%in% from (E to 1"E* =i%ure F -!G
shos the data for the Ardu0M# $1 calculated ya ith the measured error estimated ith a 9> E
confidence interval at >"*! de%rees
/i$ure >!&>: Accuracy o the ma$netometer on the
Ardu'M< V+
/i$ure >!&?: ,rror calculated or the ya* an$le as
calculated by the Ardu'M< V+
!"
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
=i%ure F -!? shos a comparison of the 7ualisys ya data' ma%netometer headin%' and Ardu0M# $1
calculated ya* The 7ualisys and ma%netometer data are seen to follo a very close trend' hile the
Ardu0M# ya data be%ins to drift at the start of the test and continues to drift throu%hout the rest of the
run*
0nitially the ya as ori%inally used as the reference data in the pro%ram' hoever the vessel ould
not run the pro%rammed course* @urin% test alterations to the pro%ram ere made' hoever the Ba
ould not %ive results on any merit and vessel continued to not travel the envisioned path* As shon in
=i%ure F -!9' the rudder an%le as bein% altered throu%h the entire run' hence hy it as turnin% ri%ht
initially*
/i$ure >!&@: Comparison o the Ardu'M< V+ *ith data
rom the .ualisys motion capture cameras
/i$ure >!&A: Pro$rammed usin$ the 4a* to control
the #essels bearin$%
? 2iscussion
6ith the use of both the Ardu0M# and ultrasonic sensor an autonomous vessel as achieved' the
vessel as able to avoid obstacles and complete a number of prepro%rammed turns* ;oever the vessel
as not able to complete the intended turns to !"" E accuracy* The confidence of the results can be
increased by increasin% the repeatability of all runs for the individual tests*
The Arduinos accuracy as an autonomous is hi%hly dependent on to of the system componentsA the
Arduino Me%a and the Ardu0M# $1* .oth systems sho a lar%e of error due to the pro%rammed functions
used in the system*
?%& Accuracy o the Ardu'M< V+
The to different sensors on the Ardu0M# caused a difference of results hen compared ith those
attained from the 2ualisys system* The ma%netometer presented the results of hi%h accuracy bein% as lo
as "*F E and the measured estimated error bein% !*G1 de%rees* the ma%netometer has a hi%h accuracy
hen compared to the results from 7ualisys'
The ya data bein%s to drift si%nificantly as soon as the Ardu0M# has been calibrated* This drift is
then translated throu%hout the rest of the test resultin% in the final ya an%le bein% si%nificantly different
from the actual ya an%le* This drift in the ya an%les caused the error estimate to be considerably hi%h
&>"*! m) hen it could reflect a value similar to that of the ma%netometer &!*G1 de%rees)* 0f the ya an%le
as to control the bearin%' it ould cause the vessel to over-turn or under-turn*
.efore the pro%ram as completed' it as found that by chan%in% certain properties in the code itself
ould result in various inaccuracies of both the ya data and the ma%netometer data' the output mode
corrects the ya data* 0f the output mode as selected the ya data ould be presented as normal but the
ma%netometer ould not display any results* 0f output mode as not selected then both the ma%netometer
and ya data ould be displayed as normal*
!!
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
@urin% the pro%rammin% phase of the Ardu0M# $1' the parameter had to be set so the ra data from
the %yroscope sensor as bein% sent throu%h the @CM matrix and then output as the ya' hile the data
from the ma%netometer as not* The lar%e error of the ya data ould be a result of calculations of the
@CM matrix*
?%( O#erall system accuracy
As the data from the Ardu0M#s ma%netometer as of hi%h accuracy' the vessel inability to complete
the pro%rammed course is due to the navi%ation pro%ram implemented* Therefore the problem ill be
caused by the navi%ation pro%ram that as loaded onto the Arduino and its control of the vessel direction*
Once the vessel had reached its intended course the rudder as reset to allo the vessel to travel in a
strai%ht line' hoever there as no pro%ramin% done to prevent the vessel from overturnin%*
.efore the 7ualisys system as calibrated for the boat' the vessel as tested
6hen the ya an%le as used to dictate the end of the turn' the vessel as seen to have a hi%her error
hen compared to the ma%netometer* The actual path hen usin% the ya an%le did not match the
intended path' ith the vessel not bein% able to be used for traversin% a strai%ht line* therefore on the day
=or both tests the vessel had a hi%h level error' ith the measured error estimate bein% (*!! m for a
sin%le !?" de%ree turn and
@ Recommendations
The recommended pro%ram for the Ardu0M# $1 included code for readin% data from a :5S' the data
as read every ! second re%ardless of the stren%th of the :5S si%nal* As the :5S as disconnected' every
tenth line of data as filled ith incomprehensible data' this re7uired the base code to be altered to
remove all :5S code ithin the 0M# code* The :5S hen connected into the system ill also correct the
ya data' therefore testin% could be conducted here there is an unobstructed vie of the sky*
There are a number of accelerometers' %yros' ma%netometers' and 0M#s currently available on the
market' all of hich can be connected to the Arduino* As the sensors ould have varyin% accuracies'
further testin% could be undertaken to determine hich sensor ould increase the overall accuracy of the
system*
An H-bee module could also be added to the system to enable ireless communication ith a
computer' it ould allo the pro%ram to be uploaded irelessly and for all data bein% read from the
Ardu0M# to be sent directly to the computer*
=urther testin% needs to be done as only sin%le turn &!?" de%ree) path as repeated (D times and the
double turn path as repeated !" times* The Ardu0M# $1 also re7uires further testin% hile bein%
connected to an S@ breakout board as only ten runs ere completed for only one of the tests*
A Conclusions
3ven thou%h this is the initial sta%e of development' the Arduino micro-computer as used to create an
autonomous system that as capable of completin% a pre-pro%rammed course ith the use of an 0M#* .y
mer%in% the ultrasonic sensor into the system' the vessel became a fully autonomous vehicle capable of
makin% decisions based on its surroundin%s and headin%*
The system hoever did sho a considerable amount of error' resultin% in the vessel not bein% able to
successfully complete the pro%rammed course* Thou%h the Ardu0M# still re7uires additional ork to its
code' specifically the calculation of the ya data as ell as the accuracy of the accelerometer is
determined*
The data from the ma%netometer can still be used to control the vessel due to the lo error of the data*
The level of accuracy of the onboard ma%netometer shoed that this system is incredibly accurate'
makin% it a %ood sensor to use hen collectin% data* The ma%netometer ould be ideal to be used as a
stand-alone sensor as the data has a hi%h accuracy ith an avera%e error of approximately !*> E
The vessel did not have any form of controller to dampen the vessels turn' once the vessel had reached
the re7uired bearin% the rudder as reset to Cero an%le of turn* This ould have caused the vessel to
!(
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
briefly drift beyond the intended bearin%* Some form of 50@ controller ould cause the vessel to correct
its ya an%le until it is travellin% alon% a constant headin%*
@ue to the number of repeated tests' the system could benefit from a %reater number of tests* 0f the
system as to under%o further testin% it ould allo the data beteen the Ardu0M# and 2ualisys to
analysed ith less uncertainty in the error*
As the motor speed as controlled throu%h a potentiometer' the system ould benefit from the Arduino
motor shield as the pro%rammin% for the motor shield ould allo to the vessel speed to be varied from
ithin the pro%ram*
The Ardu0M# $1 ould make an excellent choice as a stand-alone sensor for the determination of the
compass headin% and the direction of <orth* The Ardu0M# ould be able to be connected to a cheap
Arduino board hich could be connected to an S@ breakout board*
As the output mode as turned off due to the need of the ma%netometer' testin% into the difference in
results for the ya data could be carried out* =urther testin% into the accuracy of the accelerometer should
be done*
&9 Ac8no*led$ements
0 ould like to thank my supervisor' Shinsuke Matasubara' for all the aid and direction he %ave me
ith relation to this pro/ect alon% ith the team at the Model test basin for helpin% ith the set-up of the
vessel and the 2ualisys motion capture system* 0 ould also like to thank Alex Clifford and +eon <elin%
for comin% don to model test basin durin% my testin% times to help out here needed*
&& Reerences
.us7uets' 4*' .us7uets' 4* $*' Tudela' @*' 5ereC' =*' .us7uets-Carbonell' 4*' .arbera' A*' *** I :ilabert' 4*
&("!(' September)* +o-cost A#$ based on Arduino open source microcontroller board for
oceano%raphic research applications in a collaborative lon% term deployment missions and suitable for
combinin% ith an #S$ as autonomous automatic rechar%in% platform* 0nAutonomous "nderwater
#ehicles -A"#., /01/ !EEE23E, &pp* !-!")* 0333*
4alvin%' .*' :ade' 8*' ;a%en' O* 8*' I $est%ard' 8* &(""1' September)* A toolbox of aidin% techni7ues
for the ;#:0< A#$ inte%rated inertial navi%ation system* 0n 3CEAN, /00$. 4roceedings &$ol* (' pp*
!!DF-!!>1)* 0333*
=allon' M* =*' 8aess' M*' 4ohannsson' ;*' I +eonard' 4* 4* &("!!' May)* 3fficient A#$ navi%ation
fusin% acoustic ran%in% and side-scan sonar* 0n5obotics and Automation -!C5A., /011 !EEE !nternational
Con%erence on &pp* (19?-(D">)* 0333*
.ahr' A*' +eonard' 4* 4*' I =allon' M* =* &(""9)* Cooperative localiCation for autonomous underater
vehicles* The !nternational 6ournal o% 5obotics 5esearch' /7&F)' G!D-G(?*
Arduino* &("!1)* JArduino*ccK* Retrieved !D,"1' ("!1' Retrieved from http:,,*arduino*cc,
Marport* &("!")* JA#$ Market to Reach L(*1 billion Over the <ext @ecade*K Retrieved !D,"1' ("!1*
Retrieved from http:,,blo%*marport*com,("!","!,"?,!?(?,*
Sparkfun* &("!1)* J@0B@rones Ardu0M#M $1K* Retrieved !","9' ("!1* from
https:,,*sparkfun*com,products,!!">>
.rain' M* &("!1)* How does a brushless electric motor wor+8. Retrieved !","9' ("!1* =rom
http:,,*hostufforks*com,brushless-motor*htm
!1
OConnor, Ryan Maritime Robotics Project: Small Autonomous Marine Vehicle
AMC* &("!1) JModel test basinK* Retrieved (D,"9,("!1* Retrieved from
https:,,*amc*edu*au,maritime-en%ineerin%,model-test-basin*
2ualisys* &("!1)* Robust N hi%h performin% N real time* Retrieved (D,"9,("!1* Retrieved from
http:,,*7ualisys*com,products,*
.rittannica* &("!1)* 0nertial :uidance System* Retrieved !G 4une' ("!1' from
http:,,*britannica*com,3.checked,topic,(?G1>D,inertial-%uidance-systemOref?(11>(*
C;Robotics* &("!1)* #nderstandin% 3uler An%les* Retrieved (D September' ("!1' from
http:,,*chrobotics*com,library,understandin%-euler-an%les
Starlino* &("!!)* @CM Tutorial N An 0ntroduction to Orientation 8inematics' Retrieved (D September'
("!1' from http:,,*starlino*com,dcmPtutorial*html
Ardu-imu' &("!")* Theory of operation &simplified)' Retrieved (D September' ("!1' from
https:,,code*%oo%le*com,p,ardu-imu,iki,Theory*
6ikipedia' &("!1)* 3uler an%les' retrieved (D September' ("!1' from
http:,,en*ikipedia*or%,iki,3ulerPan%les
!D