Design and Implementation of an Arduino Mega Based Autonomous Sailboat for GPS Waypoint Navigation Using Wind Sensing and Real Time Control

Abstract

This study demonstrates the development of an autonomous sailboat designed to navigate using predefined GPS waypoints, employing real-time sensor data to regulate its sail and rudder mechanisms. The system is anchored by an Arduino Mega microcontroller, which integrates various sensor modules and servo motors. Additionally, an SD memory card is incorporated for data logging purposes. Wind speed is quantified by measuring pulses from an anemometer, while wind direction is derived from analog signals provided by a wind vane. By synthesizing wind data with the vessel’s heading and GPS coordinates, the system computes the requisite direction and distance to the target waypoint, subsequently adjusting the rudder orientation and optimizing the sail angle. The servo motors governing the rudder and sail are controlled via a PWM driver (PCA9685), ensuring precise positioning. Throughout the navigation process, all sensor inputs and control outputs are systematically logged onto the SD card for post-mission analysis. In summary, this system presents a cost-effective and practical approach to autonomous sailboat navigation, with potential applications in marine research, environmental monitoring, and educational robotics.