A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.

A system includes a marine propulsion device, an input, and a controller. The input outputs an operating signal indicating a first mode selected in accordance with an operation thereof, and the controller receives the operating signal. When it is intended to move the watercraft to a target spot from a first spot in the first mode, the controller is configured or programmed to select in which mode, including a bow mode that orients a bow of the watercraft toward the target spot, and a stern mode that orients a stern of the watercraft toward the target spot, the marine propulsion device is controlled depending on a position of the target spot with respect to the first spot so as to control the marine propulsion device such that the watercraft is moved from the first spot to the target spot in the bow mode or the stern mode.

A foot pedal device for controlling an electric steer trolling motor and navigating a marine vessel. The foot pedal allows proportional control of the vessel such that the operator's foot movement on the foot pedal is proportional to an action by the trolling motor. The foot pedal includes a platform that pivots upon a base, an angular position monitor, and a controller; the controller is communicatively coupled to the angular position monitor and is configured to receive an angular measurement from the magnetic angle sensor and generate at least one control signal for a trolling motor of a marine vessel at least partially based on the angular measurement from the sensor.

A multi-anchor depth control system for a boat or other watercraft having a line for securing anchors to the boat, at least two anchors attached at or near opposing ends of the line, a depth finder, and a controller configured to automatically adjust the amount of line released from the boat to maintain the anchors on the floor of the body of water in which the boat is floating, based upon information obtained from the depth finder.

A method for maintaining a marine vessel propelled by a marine propulsion device in a selected position includes determining a current global position of the marine vessel and receiving a signal command to maintain the current global position. The current global position is stored as a target global position in response to receiving the signal command. A subsequent global position of the marine vessel is determined and a position error difference between the subsequent global position and the target global position is determined. The method includes determining marine vessel movements required to minimize the position error difference, and causing the marine propulsion device to produce a thrust having a magnitude, a direction, and an angle calculated to result in achievement of the required marine vessel movements. At least one of timing and frequency of discontinuity of thrust production is controlled while the position error difference is minimized.

A system controls movement of a marine vessel near an object. The system includes a control module in signal communication with a marine propulsion system, a manually operable input device providing a signal representing a requested translation of the marine vessel, and a sensor providing a first distance between the vessel and a first point on the object and a second distance between the vessel and a second point on the object. The control module determines an actual angle between the vessel and the object based on the first distance and the second distance. In response to the signal representing the requested translation, the control module stores the actual angle between the vessel and the object as an initial angle and controls the marine propulsion system to produce thrust that will carry out the requested translation and that will maintain the initial angle.

An autonomous pool cleaner includes a main body, a filter that is removably coupled to the main body, and an edge engagement assembly. The main body includes a top, a bottom, and one or more peripheral walls that extend between the top and the bottom. The filter is accessible for removal or installation via a particular peripheral wall of the one or more peripheral walls. The edge engagement assembly is configured to extend beyond the particular peripheral wall of the main body and removably secure the autonomous pool cleaner to an edge of a swimming pool so that the filter is accessible and vertically removable when the autonomous pool cleaner is secured to the edge.

A marine vessel control system comprises a propulsion unit and a steering actuator for steering the propulsion unit. There is a shift actuator for shifting gears in the propulsion unit and a throttle actuator for increasing or decreasing throttle to the propulsion unit. There is an input device for providing user inputted steering commands to the steering actuator and for providing user inputted shift and throttle commands to the shift actuator and the throttle actuator. There is a sensor for detecting a global position and a heading direction of the marine vessel. A controller receives position and heading values of the marine vessel from the sensor. The controller compares the received position value to a pre-programmed position value to determine a position error difference. The controller also compares the received heading value to a pre-programmed heading value to determine a heading error difference.

A boat basically includes a hull, at least one propulsion unit, a heading sensor, a position sensor and a controller. The at least one propulsion unit is movably mounted to the hull, and has a propulsion axis. The heading sensor is configured to detect a heading of the boat. The position sensor is configured to detect a position of the boat. The controller is programmed to turn the at least one propulsion unit relative to the hull such that the propulsion axis moves away from a center point of the boat to correct the heading of the boat upon determining that the boat is drifting in a drift direction based on detection results of the heading sensor and the position sensor.

A control system for navigating a marine vessel employs at least a first motor and a second motor. The control system is configured to communicate with the first and second motors. The control system is configured to receive a position measurement and an orientation measurement for the marine vessel. The control system is further configured to generate at least one control signal for the first motor based on the position measurement and at least one control signal for the second motor based on the orientation measurement.