Publication Detail

Implementation of a Fuzzy Controller for Waypoint Following on an Autonomous Boat: A Teaching Tool

T. W. Vaneck, T. W. Rodriguez, T. Consi
1996
6 pp.
MITSG 95-12J
$2.00 DOM
ORDER HARDCOPY

This paper focuses on the development of a fuzzy controller that performs waypoint following by an autonomous boat. The controller and boat were developed to act as teaching tools for students learning the principles of system engineering. The students went from a simple paper model of how they would like the boat to behave to programming a computer on the autonomous boat and conducting field experiments. As discussed in the paper, they found that the fuzzy controllers were relatively easy to develop, simple to tune, and robust to 'real world' disturbances.

type: Technical reports

Parent Project

Project No.: 1994-RU-26-PTI
Title: Rapid Response to Episodic Events in the Ocean