[Gabriel] put together an impressive writeup of his autonomous catamaran, Atlantis(PDF). It was certainly done as an academic project, but there's a thorough explanation of the math logic behind the control systems. The heart of the boat was a waterproofed Pentium laptop with a CAN bus parallel interface used to talk to everything on-board. Sensors included GPS, wind, hull speed and rudder angle. In case the site can't handle the load, I've mirrored the 1.4MB PDF here.
译文:
自主式双体船
文档归类：
gps hacks,
misc hacks 
[
盖布瑞]把自己对于自主式双体船--
亚特兰蒂斯的记录整合到一起，并用PDF格式展现出来。毫无疑问，它是按照学术方面的项目进行研究的，但在控制系统的背后，却隐藏着解释透彻的数学逻辑。该船的“心脏”是一台防水的奔腾笔记本电脑，配有CAN巴士并行接口，通过此接口可以和船上的一切进行交流。该船配备的传感器包括GPS、气流、船体速度和方向舵偏角等。这个PDF文件有1.4MB，我担心这个网站无法上传，所以链接在
此处，以供参考。