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Collision avoidance system for an autonomous sailboat

In this paper it is shown a collision avoidance system intended to be used on an autonomous sailboat scale model. The sailboat has a sequence of route points in the controller memory which are followed sequentially, as for a typical regatta contest. The system is based on a camera device named Pixy and a low-cost Arduino board. The image data obtained from Pixy is edited considering the inclination of the sailboat, wind speed, water current and sea ripple and the number of obstacles. The data is then used and considered in a function that change the next destination point in presence of a collision warning. The methods and functions were validated using MATLAB simulation and some of them implemented on Arduino.