Anyone ventured on this subject?Some interesting links: http://www.roboticsailing.org/home/ and the http://www.microtransat.org.
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I think ardupilot would be a good base. It’s got that great EKF, dataflash logging, support for many types of sensors, mavlink communication, etc, etc. Not trying to downplay the effort required to enhance it to add the extra bits (path planning and collision avoidance) but a couple of new high level libraries could be created for those features or possibly a companion computer could be used that does that work and then sends commands to the controller board (i.e. pixhawk, navio2, etc) which is in guided mode. Rover doesn’t support many guided mode commands at the moment (only waypoint I think) so some work might be required to add extra controls there too.
-Randy
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