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Publication
Sistema ciberfísico para controlo autónomo de embarcações unmanned surface vehicle
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Abstract(s)
Este Trabalho Final de Mestrado (TFM) descreve o desenvolvimento de um sistema ciberfísico para controlo autónomo de embarcações do tipo Unmanned Surface Vehicle (USV). O sistema foi concebido de forma modular, expansível e orientado para a integração de múltiplos motores, sensores e interfaces de comunicação, assegurando robustez, baixo custo e adaptabilidade a diferentes cenários operacionais. Todo o código desenvolvido encontra-se disponível em repositório open source, promovendo transparência, colaboração e reutilização científica. A arquitetura proposta baseia-se na utilização de um microcontrolador Espressif32 (ESP32) com suporte nativo a Inter-Integrated Circuit (I2C), Universal Asynchronous Receiver/Transmitter (UART) e Long Range (LoRa), para controlo dos diferentes módulos, incluindo sensores e atuadores. Entre os principais módulos incluem-se: i) propulsores brushless controlados por Electronic Speed Controller (ESC), capazes de fornecer empuxo bidirecional; ii) um Inertial Measurement Unit (IMU), que fornece medições de guinada (yaw), arfagem (pitch) e rotação (roll) para garantir a estabilidade e a correçcão de trajetória; iii) um recetor Global Positioning System (GPS), responsável pela navegação precisa através de coordenadas geoespaciais; e iv) um módulo de comunicação Long Range (LoRa), que assegura telemetria de longo alcance e receção de rotas em tempo real com baixo consumo energético. Do ponto de vista de software, a solução foi estruturada em módulos independentes que encapsulam funções de propulsão, sensorização, comunicação e controlo. Esta abordagem promove a reutilização de código, facilita a manutenção e garante a escalabilidade do sistema. A comunicação foi otimizada através do uso de Protocol Buffers (Protobuf), reduzindo significativamente o tempo de transmissão (Time on Air (ToA)) em mensagens Long Range (LoRa), o que contribui para maior eficiência energética, menor probabilidade de colisões e aumento do alcance efetivo. A validação experimental incluiu testes incrementais de hardware e software, desde o controlo isolado de propulsores até à integração de todos os módulos num protótipo funcional. Os resultados
práticos, obtidos em ambiente real no Naval-Robotics Exercise 2025 (Naval-REX25), demonstraram a capacidade do sistema em seguir rotas definidas por waypoints Global Positioning System (GPS), armazenar dados de telemetria e operar em modo manual ou automático. Este processo de validação operacional, em colaboração com a Marinha Portuguesa, reforça a aplicabilidade do sistema em cenários próximos de missão real. Conclui-se que o sistema desenvolvido constitui uma base sólida para futuras evoluções em Unmanned Surface Vehicle (USV), nomeadamente a aplica¸c˜ao de controladores avan¸cados (Proportional-Integral-Derivative (PID) ou Linear Quadratic Regulator (LQR)), a integração em plataformas marítimas de maior escala, e a utilização em cenários reais de monitorização ambiental, investigação científica e operações costeiras. Perspetiva-se ainda a exploração de técnicas de inteligência artificial e aprendizagem automática para otimização da navegação e da tomada de decisão em tempo real. O contexto português, em particular a sua vasta Zona Económica Exclusiva (ZEE), constitui um campo de aplicação natural para este tipo de soluções, contribuindo para o desenvolvimento científico e tecnológico nacional.
Abstract This Trabalho Final de Mestrado (TFM) describes the development of a cyber-physical system for the autonomous control of Unmanned Surface Vehicle (USV). The system was designed to be modular, extensible, and oriented towards the integration of multiple motors, sensors, and communication interfaces, ensuring robustness, low cost, and adaptability to different operational scenarios. All developed code is available in an open source repository, promoting transparency, collaboration, and scientific reuse. The proposed architecture is based on an Espressif32 (ESP32) microcontroller with native support for Inter-Integrated Circuit (I2C), Universal Asynchronous Receiver/Transmitter (UART), and Long Range (LoRa), responsible for controlling the different modules, including sensors and actuators. The main modules include: i) brushless thrusters controlled by an Electronic Speed Controller (ESC), capable of providing bidirectional thrust; ii) an Inertial Measurement Unit (IMU), supplying yaw, pitch, and roll measurements to ensure stability and trajectory correction; iii) a Global Positioning System (GPS) receiver, responsible for accurate navigation through geospatial coordinates; and iv) a Long Range (LoRa) communication module, enabling long-range telemetry and real-time route updates with low energy consumption. From a software perspective, the solution was structured into independent modules that encapsulate propulsion, sensing, communication, and control functions. This approach fosters code reusability, simplifies maintenance, and ensures system scalability. Communication efficiency was enhanced through the use of Protocol Buffers (Protobuf), which significantly reduced the transmission time (Time on Air (ToA)) of Long Range (LoRa) messages, contributing to higher energy efficiency, lower collision probability, and increased effective range. Experimental validation included incremental hardware and software tests, ranging from isolated thruster control to the full integration of all modules into a functional prototype. Practical results, obtained in a real-world environment during Naval-Robotics Exercise 2025 (Naval-REX25), demonstrated the system’s ability to follow Global Positioning System (GPS) waypoint-defined routes, store telemetry data, and operate in both manual and autonomous modes. This operational validation, conducted in collaboration with the Portuguese Navy, reinforced the applicability of the system in mission-like scenarios. It is concluded that the developed system provides a solid foundation for future advancements in Unmanned Surface Vehicle (USV), namely the application of advanced controllers (Proportional-Integral-Derivative (PID) or Linear Quadratic Regulator (LQR)), integration into larger-scale maritime platforms, and use in real-world scenarios such as environmental monitoring, scientific research, and coastal operations. Furthermore, the exploration of artificial intelligence and machine learning techniques is foreseen to optimize navigation and real-time decision-making. The Portuguese context, particularly its vast Exclusive Economic Zone (EEZ), represents a natural field of application for this type of solution, contributing to national scientific and technological development.
Abstract This Trabalho Final de Mestrado (TFM) describes the development of a cyber-physical system for the autonomous control of Unmanned Surface Vehicle (USV). The system was designed to be modular, extensible, and oriented towards the integration of multiple motors, sensors, and communication interfaces, ensuring robustness, low cost, and adaptability to different operational scenarios. All developed code is available in an open source repository, promoting transparency, collaboration, and scientific reuse. The proposed architecture is based on an Espressif32 (ESP32) microcontroller with native support for Inter-Integrated Circuit (I2C), Universal Asynchronous Receiver/Transmitter (UART), and Long Range (LoRa), responsible for controlling the different modules, including sensors and actuators. The main modules include: i) brushless thrusters controlled by an Electronic Speed Controller (ESC), capable of providing bidirectional thrust; ii) an Inertial Measurement Unit (IMU), supplying yaw, pitch, and roll measurements to ensure stability and trajectory correction; iii) a Global Positioning System (GPS) receiver, responsible for accurate navigation through geospatial coordinates; and iv) a Long Range (LoRa) communication module, enabling long-range telemetry and real-time route updates with low energy consumption. From a software perspective, the solution was structured into independent modules that encapsulate propulsion, sensing, communication, and control functions. This approach fosters code reusability, simplifies maintenance, and ensures system scalability. Communication efficiency was enhanced through the use of Protocol Buffers (Protobuf), which significantly reduced the transmission time (Time on Air (ToA)) of Long Range (LoRa) messages, contributing to higher energy efficiency, lower collision probability, and increased effective range. Experimental validation included incremental hardware and software tests, ranging from isolated thruster control to the full integration of all modules into a functional prototype. Practical results, obtained in a real-world environment during Naval-Robotics Exercise 2025 (Naval-REX25), demonstrated the system’s ability to follow Global Positioning System (GPS) waypoint-defined routes, store telemetry data, and operate in both manual and autonomous modes. This operational validation, conducted in collaboration with the Portuguese Navy, reinforced the applicability of the system in mission-like scenarios. It is concluded that the developed system provides a solid foundation for future advancements in Unmanned Surface Vehicle (USV), namely the application of advanced controllers (Proportional-Integral-Derivative (PID) or Linear Quadratic Regulator (LQR)), integration into larger-scale maritime platforms, and use in real-world scenarios such as environmental monitoring, scientific research, and coastal operations. Furthermore, the exploration of artificial intelligence and machine learning techniques is foreseen to optimize navigation and real-time decision-making. The Portuguese context, particularly its vast Exclusive Economic Zone (EEZ), represents a natural field of application for this type of solution, contributing to national scientific and technological development.
Description
Keywords
USV Sistemas ciberfísicos LoRa ESP32 Navegação autónoma Protobuf Cyber-physical systems Autonomous navigation