LIVE AUTONOMY VIEWT+000.0 s

nominal

LOCAL ENU / METRES

RUN ANALYSIS355.2 m short of goal

Same scenario and seed, same trace. Change the seed to test another deterministic sensor sequence.

cross-track estimate gapfault window

RMS cross-track1.7m

Minimum clearance40.1m

Energy proxy70.3∫|u|dt

WHAT IS RUNNING

A small vessel model you can argue with.

HarborPilot integrates a planar three degree of freedom hull model at a fixed 100 ms step. The A* planner inflates every obstacle by the safety radius. Line-of-sight guidance then hands a desired course to either a tuned PID helm or a short-horizon preview controller.

The orange track is a complementary kinematic observer. It blends noisy GPS and compass readings with gyro propagation. It is not an extended Kalman filter, and the preview controller is not a full constrained MPC solver. Those limits are deliberate and tested.

SIMULATION ONLY

No COLREG logic, chart datum, actuator model, or safety case. Do not use this code to navigate a real vessel.