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BlueBoat USV

BlueBoatUSV BlueBoatUSV2

The BlueBoat USV (Unmanned Surface Vehicle) is a small autonomous watercraft developed by Blue Robotics. It is designed for various marine applications including navigation experiments, environmental monitoring, and autonomous surface operations.

System Overview

The BlueBoat is a compact, versatile unmanned surface vehicle that provides an excellent platform for marine robotics research and development. Its modular design allows for extensive customization with various sensors and payloads.

Key Features

  • Marine-Grade Design: Waterproof and corrosion-resistant construction
  • Autonomous Capabilities: GPS navigation and waypoint following
  • Modular Payload Bay: Customizable sensor and equipment mounting
  • Long Endurance: Extended operation time for marine missions
  • Remote Control: Manual override and telemetry capabilities
  • Open Source: Hardware and software designs available for customization

Specifications

  • Length: Approximately 1.2m
  • Beam (Width): 0.6m
  • Draft: 0.15m (shallow water capable)
  • Weight: ~25kg (varies with payload)
  • Max Speed: ~5 knots (2.5 m/s)
  • Endurance: Several hours (battery dependent)
  • Communication: Long-range radio telemetry

Components

Propulsion System

  • Motors: Two thruster motors for differential thrust control
  • left_motor: Port side propulsion unit
  • right_motor: Starboard side propulsion unit
  • Propellers: Optimized for efficiency and maneuverability
  • Control: Variable speed control with reverse capability

Hull Design

  • Catamaran Configuration: Twin-hull design for stability
  • Buoyancy: Positive buoyancy with safety margins
  • Payload Bay: Central compartment for sensors and electronics
  • Waterproofing: Sealed electronics compartments

Available Sensors

  • GPS: High-precision positioning for navigation
  • IMU: 9-axis inertial measurement unit for orientation
  • Camera: Optional visual monitoring and recording
  • Depth Sensor: Water depth measurement capability
  • Environmental Sensors: Temperature, pH, conductivity (optional)

Control Interface

The BlueBoat USV integrates seamlessly with Simulink through the webots-simulink bridge:

% Motor control functions
wb_motor_set_velocity.m     % Set thruster velocities
wb_motor_get_position.m     % Get motor positions
wb_robot_step.m             % Main simulation step

% Sensor interface functions
wb_gps_get_values.m         % GPS position data
wb_imu_get_values.m         % Orientation and acceleration
wb_camera_get_image.m       % Visual data acquisition

The control system implements:

  1. Waypoint Navigation: GPS-based path following
  2. Station Keeping: Position holding against currents
  3. Heading Control: Compass-based directional control
  4. Speed Control: Velocity regulation for efficiency

Control System Design

Marine Vehicle Dynamics

The BlueBoat follows marine vehicle dynamics principles:

% Surge motion (forward/backward)
X = thrust_force - drag_force

% Yaw motion (turning)
N = differential_thrust * beam_width/2

% Simple heading control
heading_error = desired_heading - current_heading;
rudder_command = Kp * heading_error;

Differential Thrust Control

The BlueBoat uses differential thrust for maneuvering:

# Forward movement
left_motor_speed = base_speed
right_motor_speed = base_speed

# Turn right
left_motor_speed = base_speed + turn_rate
right_motor_speed = base_speed - turn_rate

# Reverse
left_motor_speed = -base_speed
right_motor_speed = -base_speed

GPS Waypoint Following

The BlueBoat implements several navigation modes:

  1. Direct Navigation: Straight-line path to target
  2. Waypoint Following: Sequential waypoint navigation
  3. Loiter Mode: Circular pattern around a point
  4. Return-to-Launch: Automatic return to start position

Environmental Adaptation

  • Current Compensation: Drift correction using GPS feedback
  • Wind Resistance: Heading adjustments for wind effects
  • Wave Response: Motion filtering for sensor stability

Mission Planning

Typical Mission Profiles

  1. Environmental Monitoring:
  2. Water quality sampling along transects
  3. Temperature and pH measurement

  4. Pollution detection and mapping

  5. Bathymetric Surveys:

  6. Depth mapping using sonar
  7. Underwater terrain modeling

  8. Harbor and coastal surveys

  9. Search and Rescue Support:

  10. Visual search patterns
  11. Emergency equipment delivery

  12. Communication relay operations

  13. Research Applications:

  14. Marine biology data collection
  15. Oceanographic measurements
  16. Long-term environmental monitoring

Usage Examples

Basic Operation

  1. Setup: Load the BlueBoat world file in Webots
  2. Configuration: Set desired sensors in the body_slot
  3. Mission Planning: Define waypoints and mission parameters
  4. Execution: Launch autonomous mission or manual control
% Example mission parameters
mission_waypoints = [
    0, 0;       % Start position
    100, 0;     % First waypoint
    100, 100;   % Second waypoint
    0, 100;     % Third waypoint
    0, 0        % Return home
];

% Control loop
for i = 1:length(mission_waypoints)
    navigate_to_waypoint(mission_waypoints(i,:));
    wait_for_arrival();
end

Sensor Integration

The BlueBoat's modular design allows for various sensor configurations:

  • Basic Configuration: GPS + IMU for navigation
  • Mapping Configuration: + Sonar for bathymetry
  • Monitoring Configuration: + Water quality sensors
  • Research Configuration: + Multiple scientific instruments

Performance Characteristics

Operating Parameters

  • Typical Speed: 2-3 knots for efficient operation
  • Maximum Speed: ~5 knots in calm conditions
  • Turning Radius: ~2 boat lengths minimum
  • Position Accuracy: ±2-5 meters (GPS dependent)
  • Mission Duration: 2-6 hours (battery/fuel dependent)

Environmental Limits

  • Wave Height: Up to 0.5m significant wave height
  • Wind Speed: Up to 15 knots sustained
  • Operating Temperature: -10°C to +50°C
  • Water Depth: Minimum 0.2m depth required

Safety and Regulations

Safety Features

  • Fail-Safe Return: Automatic return on communication loss
  • Low Battery Return: Automatic return at low power
  • Emergency Stop: Remote emergency shutdown capability
  • Status Monitoring: Real-time telemetry and alerts

Regulatory Compliance

  • Maritime Regulations: Comply with local USV regulations
  • Navigation Rules: Follow maritime traffic rules
  • Communication: Maintain VHF radio monitoring
  • Visual Identification: Proper lighting and marking

Applications and Use Cases

Research and Development

  • Algorithm Testing: Navigation and control algorithm validation
  • Sensor Development: New marine sensor integration and testing
  • Multi-Vehicle Operations: Swarm and collaborative behaviors

Commercial Applications

  • Aquaculture: Fish farm monitoring and maintenance
  • Port Operations: Harbor patrol and monitoring
  • Environmental Services: Water quality monitoring and assessment

Educational Applications

  • Marine Robotics Courses: Hands-on USV control and programming
  • Oceanography: Data collection methods and instruments
  • Control Systems: Marine vehicle dynamics and control

References

Educational Purpose: The BlueBoat USV simulation provides an excellent platform for learning marine robotics concepts including marine vehicle dynamics, GPS navigation, environmental monitoring, and autonomous surface operations. The integration with Simulink enables rapid development and testing of marine control algorithms in a realistic virtual environment before deployment on actual hardware.