ASV Autonomous Navigation System

Full autonomous navigation stack for the Barunastra ITS Roboboat, which earned Grand Champion at the International Roboboat Competition 2023 (IRC 2023) and 1st Place at KKI 2022 & 2023.

🏆 Competition Results

🧠 System Architecture

Sensors (LiDAR + Camera + GPS + IMU + Compass)
           ↓
    Sensor Fusion Layer (ROS)
           ↓
  Localization & Mapping (RTK GPS + IMU)
           ↓
   Perception (Object Detection - YOLO)
           ↓
   Path Planning & Obstacle Avoidance
           ↓
  PID Thruster Control (Low-level firmware)

Key Technical Contributions

Multi-Sensor Fusion

Integrated 5 sensor modalities into a coherent state estimate:

• ▸LiDAR — obstacle detection and environment mapping
• ▸Camera — buoy color classification and task detection via YOLO
• ▸GPS RTK — centimeter-level absolute positioning
• ▸IMU — attitude estimation and dead reckoning
• ▸Compass — heading reference

PID Thruster Control

Designed dual-thruster PID controllers for:

• ▸Heading control (yaw axis)
• ▸Speed control (surge axis)
• ▸Station-keeping in GPS-denied zones

Task Autonomy

Implemented fully autonomous mission execution for IRC tasks:

1. 1.Navigation channel traversal
2. 2.Speed gate timing
3. 3.Buoy avoidance
4. 4.Docking maneuver

🛠 Tech Stack

• ▸ROS Noetic — middleware and sensor integration
• ▸Python — high-level navigation and mission logic
• ▸C++ — real-time sensor processing nodes
• ▸OpenCV + YOLO — visual perception pipeline
• ▸GPS RTK — centimeter-precision localization

Team Role

Served as Robotics Software Engineer (Apr 2022 – Dec 2023) and Electrical-Programming Division Leader (Dec 2023 – Nov 2024), responsible for the entire software stack from sensor drivers to mission execution.