AL– a Prototype Autonomous Ship Model for Navigating in Ice Conditions

This paper introduces a scaled-down model of an Unmanned Surface Vessel (USV) named "AL," designed specifically for navigating ice-covered waters. The development involved utilizing Computer-Aided Design and Computer-Aided Manufacturing (CAD CAM) tools, employing 3D printing in a modular fashion, and assembling the components into an icebreaking hull prototype. Watertightness examinations ensured the vessel's integrity. AL was then equipped with advanced electronics, sensors, and state-of-the-art positioning algorithms in the ROS 2 environment. Systematic model tests identified critical ship hull parameters, enabling the establishment of basic controllers. These controllers contributed to the development of a basic navigation and control system for AL. The result is a ship model capable of autonomously following a predefined trajectory, guided by waypoints, while maintaining the desired speed in ice channels. The AL model serves as a platform for future research in autonomous navigation within ice-covered environments.