Development and simulation of boat controller

For this boat I have developed a controller in ROS that prevents overshoot and keeps course better than the previous controller.

To prevent collisions, the engine was previously turned off, but the speed towards the obstacle has not yet been reduced, so collisions could not always be prevented. I solved the latter by creating a loiter function that holds position if there is an obstacle in the path.

The controller has been tested and approved in practice (“on the water”), which is the best part.