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			General Info   Overview Visitor Info People Research   Publications Education   Courses GA/SA/MA News   News Seminars		Development of an Autonomous Model Trimaran Author(s): S. Rüdt Conference/Journal: Master Thesis, SS16 (10518) Abstract: Autonomous vehicles are slowly becoming a part in our daily lives. Sailboats require little energy to travel and therefore could potentially be deployed for long term autonomous missions. The goal of this project is to set up a new hardware platform that can sail autonomously. A model trimaran has been equipped with sensors that enable it to collect all the data required by the high and low level controllers to sail autonomously. In particular, suitable sensors have been built to measure wind speed and direction. An Extended Kalman Filter has been developed based on the boats dynamics, in order to estimate relevant wind information. During several experiments on the lake of Zurich the new hard- and software setup has been tested and evaluated. Supervisors: Marcello Colombino, Henrik Hesse, Roy Smith Year: 2016 Type of Publication: (12)Diploma/Master Thesis Supervisor: % Autogenerated BibTeX entry @PhdThesis { Xxx:2016:IFA_5492 }