The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles (CROSBI ID 609134)
Prilog sa skupa u zborniku | izvorni znanstveni rad | domaća recenzija
Podaci o odgovornosti
Nađ, Đula ; Vasilijević, Antonio ; Stilinović, Nikola ; Mišković, Nikola ; Vukić, Zoran ;
engleski
The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles
This paper presents the application of open-source software for simulation, control and navigation of marine vehicles. The Robot Operating System, developed in 2007 at Stanford, has gained increased popularity in mobile robotics. Lately its presence in marine systems is becoming more pronounced. We describe the application of this distributed framework to simulation and real-life operation of the Cooperative Autonomous Robotic Towing System (CART). The combination of the Underwater Simulator and ROS enable visualization and testing options out-of-the-box and reduce required man-effort when developing control and navigation systems. Further we show the development process and system components of the CART vehicle. The different control approaches are analyzed and it is shown how with cooperative action vehicles can aid in ship-towing operations.
marine systems ; ROS ; robot operating system ; simulation ; control ; navigation
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Podaci o prilogu
205-218.
2014.
objavljeno
Podaci o matičnoj publikaciji
Proceedings of the 5th Conference on Marine Technology in memory of Academician Zlatko Winkler
Dobrinić, Julijan
Rijeka: Tehnički fakultet Sveučilišta u Rijeci
Podaci o skupu
Nepoznat skup
predavanje
29.02.1904-29.02.2096