Simulator for the Krick Felix robotic boat based on software-in-the-loop

Abstract

Incorporating high–level simulations into the development of the maritime industry, using systems that are increasingly accurate and close enough to reality, contributes to avoiding the loss of resources in situations that may arise in the event of maritime vessel failures. In this paper, we present a simulator based on software–in–the–loop for simulating the behavior of the Krick Felix robotic boat in three–dimensional marine environments. The proposed simulator has been designed based on the software–in–the–loop strategy implemented by Ardupilot. The experimental simulations confirm the validity of the behavior achieved by the proposed simulator in the generated environments.