Roboat III: An autonomous surface vessel for urban transportation

• Published in: Journal of field robotics Vol. 40; no. 8; pp. 1996 - 2009
• Main Authors: Wang, Wei, Fernández‐Gutiérrez, David, Doornbusch, Rens, Jordan, Joshua, Shan, Tixiao, Leoni, Pietro, Hagemann, Niklas, Schiphorst, Jonathan Klein, Duarte, Fabio, Ratti, Carlo, Rus, Daniela
• Format: Journal Article
• Language: English
• Published: Hoboken Wiley Subscription Services, Inc 01.12.2023
• Subjects: Algorithms; Docking; Graph theory; Nonlinear control; Obstacle avoidance; Predictive control; Seats; Tracking control; Trajectory control; Trajectory optimization; Tunnel thrusters; Urban transportation; Vessels; Waterways
• ISSN: 1556-4959; 1556-4967
• DOI: 10.1002/rob.22237

In this paper, we present our novel autonomous surface vessel platform, a full‐scale Roboat for urban transportation. This 4‐m‐long Roboat is designed with six seats and can carry a payload of up to 1000 kg. Roboat has two main thrusters for cruising and two tunnel thrusters to accommodate docking a...