Design of small autonomous boat for course-keeping manuevers

This paper presents design, modeling and control of a small autonomous boat (SAB) where an Remote Control (RC) commercial boat is augmented with an embedded system and the required sensors in order to conduct simple maneuvers autonomously. The detailed kinematic and dynamic equations of the SAB are presented and simulation and experimental results for the boat heading control demonstrate the efficacy of SAB. 1 2017 IEEE. This publication was made possible by NPRP grants No. NPRP 5 - 045 - 2 - 017 and No. NPRP 6-463-2-189 from the Qatar National Research Fund (a member of Qatar Foundation). The statements made herein are solely the responsibility of the authors. Scopus