RoboWhaler
Sponsored by Brunswick/Mercury Marine
Mercury Marine has provided a developer interface to the AUV Lab that allows us to control the Boston Whaler R/V Philos with MOOS-IvP. Using this interface, we have demonstrated that the vehicle can autonomously travel to a waypoint, follow another vehicle, and follow COLREGS. In 2019, we demonstrated obstacle avoidance and sensor fusion with in-water tests on the Charles.
Figure 1: The RoboWhaler October 30th, 2019 prior to test runs on the Charles River.
Figure 2: The RoboWhaler avoiding an obstacle detected on Lidar.
Figure 3: The RoboWhaler on the Charles River, October 2018.
Principal Investigators:
- Prof. Michael Triantafyllou (PI)
- Mike Defilippo
- Mike Sacarny
- Dr. Michael Benjamin
Prior Principal Investigators:
- Dr. Paul Robinette
- Dr. Michael Novitzky
Students:
- Greg Nannig