The National Robotics Engineering Center, the applied research lab of the Robotics Institute, had acquired a 27 ft SeaHawk aluminum welded boat. The boat was converted to a test bed for maritime autonomy research, with drive by wire controls and a defined interface. NREC outfitted the boat with autonomy sensors and a positioning system. This included closed-loop heading control, open-loop throttle control, and the ability to specify waypoints. With the vessel ready for further autonomy development, NREC gave our team this project to make it autonomous. This included implementing perception, path planning, and simulation sub-systems. Five of us worked on the project for 2 semesters at Carnegie Mellon University and made the boat autonomous.
Refer to video and the project page for more details.
Project Page: http://mrsdprojects.ri.cmu.edu/2015teamb/