1. International Journal of Advance Engineering and Research
Development
Volume 1,Issue 1, December -2013
@IJAERD-2015, All rights Reserved 1
Scientific Journal of Impact Factor(SJIF): 3.134
e-ISSN(O): 2348-4470
p-ISSN(P): 2348-6406
Autonomous Sailboat
(Android controlled autonomously navigating vessel for inland water bodies)
Ekta Gautam1
, Kajal Panda2
, Swaradha Junnarkar3
, Hema Kanitkar4
1
Electronics & Tele-communication, P.E.S’s Modern College of Engineering, ekta2881994@gmail.com
2
Electronics & Tele-communication, P.E.S’s Modern College of Engineering, kajalpanda94@gmail.com
3
Electronics & Tele-communication, P.E.S’s Modern College of Engineering, sjunnarkar1@gmail.com
4
Prof of Electronics & Tele-communication, P.E.S’s Modern College of Engineering, hemakanitkar@hotmail.com
Abstract — Over the past decade there has been intense scientific work on autonomous sailing boats. As hardware gets
smaller, cheaper and also better performing the possibilities increased for vessel deployment in inland waters as they
perfectly satisfy the stringent requirements. Unmanned autonomous sailboats tend to exhibit a virtually unlimited
anatomy and have proven to be a prominent sea propulsion in recent times, in terms of navigation, speed and
predictability. Since long times, these sailboats have performed standalone unassisted missions in Military grounds
gaining a widespread applications in terms of flexibility and reliability. Certain promising applications also cover
oceanographic research, inland water monitoring, weather data collection and surveillance. This paper presents an
auto-sailboat paying emphasis on the hardware and software computing infrastructure. This platform uses Raspberry pi
as its embedded intelligence for faster real time computations providing a Wi-Fi support for real time communication
and data exchange between the client and android controlled stationary server for monitoring data. This platform is
capable of carrying a couple of sensing elements providing real time data from the environment that includes GPS
position tracking, real time video streaming, pH level detection, thereby substantiating human intervention, also
providing support for short range communication. The mechanical design considerations are computationally efficient
and are suitable for on board real time implementation. The tested vessel provides quantitative performance in stable
wind trajectories, in normalized weather conditions. It also addresses the ability to stay within a vigilance of ISP
providing the Wi-Fi connectivity for a few meters. Moving to autonomous minimizes the use of communication link and
accommodates more baud rate for transferring raw data to host station.
Keywords- autonomous, oceanographic research, Raspberry-Pi, embedded intelligence, surveillance, trajectories.
I. INTRODUCTION
Sailing is a relatively complex task, dependent on unpredictable environmental conditions such as wind and sea state. In
conventional sailing boats, the sailor controls the rudder according to the desired course and uses the sail sheet to
maximize velocity. For a given course, boat speed, wind speed and wind direction, there is an optimum angle between
the sail and direction of the wind that maximizes the speed of the boat. Autonomous sailboats are robotic vessels that use
wind energy for propulsion and have the capability to control the sails and rudders without human intervention. There
has been some significant work in the automation of sailing tasks, particularly in what concerns navigation for single
handed sailors [1][2]. However, the natural evolution to the development of fully autonomous sailboats for ocean
sampling has suffered from a number of technical limitations and significant risks of operation. In this paper, we show
that currently, most of the limitations have been surpassed, with the existing availability of extremely low power
electronics, flexible computational systems and high performance renewable power sources. At the same time, some of
the major risks have been mitigated, allowing this emerging technology to become an effective tool for a wide range of
applications in real scenarios, complementing the other technologies available for ocean sampling. This paper is
organized as follows. Section I includes the brief introduction of the implemented project, Section II gives the motivation
to work forth towards the project. Section III provides details regarding the related work, briefly introducing the
technology and methods to obtain the real time data. In Section IV we provide introduction to Wi-Fi technology used in
medium-range wireless communication systems relative to the potential utilization of autonomous sailboats. Next, in
Section V, the sailing mechanism has been briefly discussed. In Section VI, we introduce the hardware tools employed in
the project and analyze the status of the current efforts being made to develop fully operational prototype. Section VII
introduces communication partners that are involved in the communication process. Section VIII represents the
applications of the sailboat and finally Section IX presents the main conclusions and the plans for the near future.
The development and deployment of autonomous sailing boat is possible by the effective combination of
appropriate new and novel techniques that will allow for a number of applications that has been successfully completed

2. International Journal of Advance Engineering and Research Development (IJAERD)
Volume 1,Issue 1,December 2013, e-ISSN: 2348 - 4470 , print-ISSN:2348-6406
2
in other countries. Autonomous robots have been successfully demonstrated in a number of applications, including
planetary and underwater exploration. While the use of unmanned buoys for ocean observation is well established, the
use of unmanned systems capable of long term purposeful navigation is still in its infancy.
Sail propelled vessels thus prove an attractive prospect for investigation. A range of model sailing dinghies and
very small cruising vehicles were examined, but a number of difficulties arise with each. Sailing dinghies will also
require drastic modification to make them self-righting as well as requiring a modified rig to allow reliable automatic
control. Sailing robots were able to demonstrate basic working control systems in a comparatively efficient manner.
II. MOTIVATION
A. The importance of (more) ocean data:
In the last decades, the oceanographic community has started relying on ocean robotics to collect in-situ data and,
recently, there has been an exponential increase in the utilization of state of the art technology, such as autonomous
underwater vehicles, underwater gliders/profilers and unmanned surface vehicles. At the same time, there has been a
dramatic broadening on the knowledge about the physical processes behind the ocean dynamics. This has allowed for the
development of various mathematical models that attempt to reproduce the real conditions found in the oceans. Although
these models require calibration with real multi-scale data, the fact is that the data available has always been relatively
scarce, particularly what concerns in-situ measurements [3].
B. Available technology and methods – a brief survey:
Ships of opportunity – One of the easiest ways to get large-scale ocean measurements is the installation of in-situ
instruments on ships of opportunity, such as cargo ships or ferry-boats [4]. Typical sensors include temperature and
conductivity recorders, current profilers, etc.
Drifters, Profilers and Gliders – Drifters are instrumented floats dropped from a support vessel, which then drift
horizontally with the local currents for long periods of time [5]. Present profilers are similar to the drifters, but they use
variable buoyancy to move vertically through the ocean. Gliders not only use variable buoyancy to move vertically, but
they have also wings and control foils designed to allow steerable gliding, thus providing for some limited control on
horizontal propulsion [6]. Some of these vehicles can surface from time to time, get a GPS position and communicate
through appropriate satellite links.
Autonomous Underwater Vehicles (AUVs) – In the last decade, some important technological advances, together with
new ideas for efficient ocean sampling, fostered the development of AUVs [7]. AUVs constitute powerful and effective
tools for underwater data gathering and there is a large number of operational systems, in various sizes and
configurations, covering commercial, military or scientific applications [7][8][9]. These vehicles operate with no physical
link with the surface, carrying a set of relevant sensors to characterize the underwater environment. AUV utilization is
still quite limited as far as routine ocean sampling is concerned, but some very interesting results have aroused from their
use in challenging environments, such as under Arctic ice-sheets, in deep water, in very shallow waters, and in extreme
environments.
II. RELATED WORK
FIG 2.1. BLOCK SCHEMATIC OF THE IMPLEMENTED PROJECT

3. International Journal of Advance Engineering and Research Development (IJAERD)
Volume 1,Issue 1,December 2013, e-ISSN: 2348 - 4470 , print-ISSN:2348-6406
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The central component is the embedded intelligence that uses Raspberry-Pi. Depending on the available space in the boat
this component can either be a microcontroller [10], a PDA [11] or a x86 computer (e.g. an ITX main-board). For
communication several different components can be used. For short distances wireless LAN controllers, Bluetooth or
Zigbee modules and for medium distances near the coast and on lakes GSM transmitters are used. Depending on the
purpose of the boat one or more of these communication systems can be used.
The energy supply as simple as a battery pack in small boats like the Li-Po has been used, but also very sophisticated
with solar panels and backup fuel cell can be used to be energy self-sustaining.
GPS system is used to determine the position and speed of the boat.
III. DESIGN STUDY
Wi-Fi is a very widely used type of medium-range wireless communication system. Medium-range in this case
means that a typical Wi-Fi signal can carry about 100 meters. This is much further than short-range wireless
communication, such as Bluetooth, infrared and Zigbee, which are limited to a few meters. On the other hand, Wi-Fi
signals do not carry as far as cellular signals, which can carry several kilometers, or satellite signals, which can carry
thousands of kilometers. Wi-Fi operates in frequencies of 2.4 GHz and 5 GHz. These frequencies are considerably higher
than those used for cell phones. Higher frequencies allow for the signal to carry more data.
802.11b was the first version of Wi-Fi. It transmits in the 2.4 GHz frequency and can handle data transfer rates
of up to 11 megabits per second. This is the slowest and least expensive standard. The more recent 802.11g version
transmits at the same frequency, but it can handle up to 54 megabits per second. It is faster because it uses a more
efficient coding technique. The 802.11a version of Wi-Fi transmits at 5 GHz and can also handle up to 54 megabits per
second.
The 802.11n version of Wi-Fi transmits in both the 2.4 and 5 GHz frequencies. It can handle up to 140 megabits
per second by using multiple data streams over the same channel, while the a, b and g versions only use a single data
stream.
IV. SAILING MECHANISM
The boat model is made of tarpaulin and thermocol. Two brushless DC motors are fixed to the boat model. Pedals
made of MS (Mild Steel) are fixed to the shafts of the DC motors. To move the boat forward, both the motors are operated
in clockwise direction by the microcontroller. To move the boat reverse, both the motors are operated in counter-clockwise
direction by the microcontroller. To turn left / right, one motor is rotated in clockwise and the other is rotated in counter-
clockwise directions. The DC motor direction is controlled by H-Bridge (L293D IC). The other key factor which must be
considered in designing such a vessel is that of the sail type. Traditional fabric sails are typically controlled through a
series of ropes known as sheets and halliards, these frequently break or jam (particularly when swollen by salt water) and
require regular attention from the crew. Performing such tasks autonomously would incur significant overheads resulting
in excessive power usage, weight and financial cost. A potential alternative is that of a rigid wing shaped sail attached
directly to the mast. The sail is manipulated through the rotation of the entire mast via an electric motor. This design
eliminates common points of failure found in traditional sails and is therefore ideal for use in an autonomous sailing
vessel.
V. SAILBOAT HARDWARE TOOLS
The basic components of the electronic architecture of an autonomous sailing boat can be seen below:
In the following paragraphs we will discuss some sample equipments of autonomous sailing boats.
A. RASPBERRY PI:
The Raspberry Pi is a credit card-sized computer based on the BCM2835 system-on-chip (SoC), which includes an
ARM11 processor and a powerful GPU. The Raspberry Pi supports various distributions of Linux including Debian,
Fedora, and Arch Linux. This SBC is the Raspberry Pi Model B+. The Raspberry Pi can be used for many of the things
that a normal desktop PC does, including word-processing, spreadsheets, high-definition video, games, and
programming. USB devices such as keyboards and mice can be connected via the board’s four USB ports. With its 0.1″-
spaced GPIO header and small size, the Raspberry Pi also works as a programmable controller in a wide variety of
robotics and electronics applications.

4. International Journal of Advance Engineering and Research Development (IJAERD)
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FEATURES:
700 MHz ARM11 processor
512 MB of RAM
Ethernet port
Four USB ports
Full-size HDMI output
Four-pole 3.5 mm jack with audio output and composite video output
40-pin GPIO header with 0.1″-spaced male pins
Camera interface (CSI)
Display interface (DSI)
Micro SD card slot
B. L293D DRIVER CIRCUIT:
Motor driver is basically a current amplifier which takes a low-current signal from the microcontroller and gives out a
proportionally higher current signal which can control and drive a motor. In most cases, a transistor can act as a switch
and perform this task which drives the motor in a single direction [11].
C. DC MOTORS:
DC motors are configured in many types and sizes, including brush less, servo, and gear motor types. A motor consists of
a rotor and a permanent magnetic field stator. The magnetic field is maintained using either permanent magnets or
electromagnetic windings. DC motors are most commonly used in variable speed and torque. Motion and controls cover
a wide range of components that in some way are used to generate and/or control motion.
D. GPS:
With GPS capabilities and a Linux computer such as Raspberry Pi, we can track the sailboat or a multi rotor and locate
these on a map. But in general , with a Raspberry Pi and a GPS unit you can build limitlessness indoor and outdoor
applications.
Using the standard NMEA protocol to provide information like speed, position and altitude, the GPS shield
works great both inside and outside and enables the data via serial port. It’s not cheap, but it has great features. This
product applies the newest technology in recent times and has following advantages: small size, long stand-by life, simple
operation, stable functions and convenient installation. It can be widely used for autonomous navigation in nearby lake
areas, pH detection and real time location tracking using packet data services.
The advantage of using autonomous sailboats is that the data can be transmitted in real time to a remote/ stationer
server, along with an accurate absolute positioning given by GPS. With a permanent team continuously analyzing the data,
it is possible to validate the targets and go back to the same location in case of doubt.
E. PH SENSOR:
pH sensors are used for the pH detection. pH is an important parameter to be measured and controlled. The pH of the
solution indicates how acidic or alkaline it is.

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VI. COMMUNICATION
FIG. 6.1. VARIOUS COMMUNICATIONS POSSIBLE FOR DATA TRANSFER
A permanent data link between boat and shore is necessary for:
 monitoring,
 debugging,
 to control manually in case of emergency,
 real-time monitoring. Real-time measurement data are needed for long-term observation tasks.
Three communication partners are involved in the communication process [6]:
 Sailboat: The sailboat transmits sensor values to the visualization.
 Visualization software: This computer program runs on a computer on the shore and represents the transmitted
data. Furthermore, new target coordination, obstacle information or a new desired course can be sent from the
visualization to the sailboat.
 Remote controller: This entity can be used in case of emergency to overrule the autonomous on-board control of
the sailboat. It is especially needed during test runs. Desired actuator values like position of the rudder and sails
are transmitted in real time to the sailboat
VII. APPLICATIONS

6. International Journal of Advance Engineering and Research Development (IJAERD)
Volume 1,Issue 1,December 2013, e-ISSN: 2348 - 4470 , print-ISSN:2348-6406
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 The sailboat has been equipped with several sensors for measuring certain kind of data. Humidity content
measurement to serve small inland reserves.
 WiFi controlled embedded intelligence without ISP licensing and free data transmission of limited range.
 The sailboat will be able to supply the data to nearby shore for the purpose of surveillance and monitoring the
region without human intervention.
 GPS incorporated for purposeful navigation.
 Mounted camera for live video streaming and vigilance.
 Free initial connection establishment between the host and user for accessing streamed video data.
VIII. CONCLUSIONS AND FUTURE WORK
The system at remote side is being controlled using the embedded hardware and software installed using internet protocol
(I.P.). It is a real time portable system, since internet connectivity on android mobile has been used. The application
running on android mobile is user friendly. The particular area is being surveyed using the video streaming principle and
can be used for spying purposes. This project can work in the area where the signal strength of respected mobile operator
is sufficient. The cost of video streaming will be cost of internet plan provided by that mobile operator. Android
application is generally compatible with the android OS 4.1.2 and can be designed for the lower version of Android OS.
This boat provides an efficient sailing platform with virtually unlimited autonomy, capable of performing unassisted
missions on the lakes and inland waters for designated period of time. The boat can carry a few kilograms of additional
equipment and it includes a custom designed computer system that can be easily interfaced to a wide variety of additional
sensors or actuators. The computing system includes a RISC microprocessor running a simplified version of the Linux
operating system, surrounded by several custom designed peripherals that interface the processor with the sensors and
actuators used in the sailboat.
Until very recently, most of the efforts in developing autonomous sailboats were conducted towards the
engineering challenges, either in electronics, mechanics or software programming. Now, the first prototypes are showing
that most of these challenges were overcome and it is already possible to build fully autonomous sailboats using high-
performance computers and low power electronics. At the same time, a combination of high density batteries with
efficient renewable power sources allows for the installation of an energy management systems with indefinite duration.
With such a system in mind, we have identified a set of applications for which the utilization of autonomous sailboats
may prove to be both effective and efficient.
Autonomous sailboats are already being tested successfully in real scenarios, and so in the near future it will be
possible to demonstrate their effectiveness for ocean sampling or surveillance in some of the applications described.
There is a regulatory gap in current international maritime law in what concerns the deployment of these vessels, since
the international rules for collision avoidance only address boats under human control. The deployment of these
autonomous sailboats will have to comply to some sort of standardized regulations, for which the availability of new
electronic devices, such as AIS, may be a valuable asset.
IX. REFERENCES
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Conf. On Art. Int. ECAI’2002, Lyon, France, Jul. 2002, pp. 653–657.
[3] N. Cruz, A. Matos, S. Cunha, and S. Silva, “Zarco - an autonomous craft for underwater surveys,” in Proc. 7th
Geomatic Week, Barcelona, Spain, Feb. 2007.
[4] W. Petersen, M. Petschatnikov, F. Schroeder, and H. Wehde, “Application of a ferrybox: Automatic measurements in
the north sea,” in Proc. MTS/IEEE Techno-Oceans’04, Kobe, Japan, 2004.
[5] S. Mehta, ET. “Al. CMOS Dual -Band Tri-Mode chipset for IEEE 802.11a/b/g wireless LAN”, IEEE RF IC
Symposium, pp 427-430,2003.
[6] Communication Architecture for Autonomous Sailboats, 2 nd International Robotic Sailing Conference July 10 th ,
2009.
[7] G. Griffiths, Ed., Technology and Applications of Autonomous Under-water Vehicles. UK: Taylor and Francis, 2003.
[8] C. von Alt, B. Allen, T. Austin, N. Forrester, R. Goldsborough, M. Purcell, and R. Stokey, “Hunting for mines with
REMUS: A high performance, affordable, free swimming underwater robot,” in Proc. MTS/IEEE Conf. Oceans’01,
Honolulu, HI, USA, Nov. 2001.
[9] N. A. Cruz and A. C. Matos, “The MARES AUV, a modular autonomous robot for environment sampling,” in Proc.
MTS/IEEE Conf. Oceans’08, Quebec, Canada, Sep. 2008.
[10] J. Legrand, M. Alfonso, R. Bozzano, G. Goasguen, H. Lindh, A. Ribotti, I. Rodrigues, and C. Tziavos, “Monitoring
the marine environment operational practices in europe,” in Proc. Int. Conf. EuroGOOS, 2003.
[11] W. Petersen, M. Petschatnikov, F. Schroeder, and H. Wehde, “Application of a ferrybox: Automatic measurements