MaxiMOOP: A Multi-Role, Low Cost and Small Sailing Robot Platform

Abstract

This paper describes the development, testing and operational results from a small, autonomous sailing vessel that was designed to be easily launched and retrieved by one person while carrying a 7.5 kg payload and with enough speed under sail to overcome reasonable current. The hull is 1.2 metres long and fits in the boot of a typical car. This paper focuses on the design and testing of four prototypes, two designed for short course racing and two others designed for long endurance all weather missions. Initial tests have shown top speeds of around 3 knots with a larger racing rig and 2.4 knots with a small all weather rig. One of the prototypes has attempted a transatlantic crossing. This was cut short when it was accidentally caught by a fishing boat. Two different autonomous control systems have been developed, one based around a pair of microcontrollers and intended for low power operation averaging less than 1Wand the other based around a Raspberry Pi and ATMega328 combination to ease development and test more complex sailing algorithms.