Naslov
LIDAR-based USV close approach to vessels for manipulation purposes

Autori
Ferreira, Fausto ; Kraševac, Natko ; Obradović, Juraj ; Milijaš, Robert ; Lončar, Ivan ; Bogdan, Stjepan ; Mišković, Nikola

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the OCEANS 2022 Hampton Roads Conference and Exposition / - , 2022, 1-7 / - , 2022, 1-6

Skup
OCEANS 2022 Hampton Roads Conference and Exposition

Mjesto i datum
Han-sur-Lesse, Belgija, 17.10.2022. - 20.10.2022

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
LIDAR ; USV ; ASV ; autonomous navigation

Sažetak
Unmanned Surface Vehicles (USVs) are used in a variety of applications today. They can also be used in multi-robot systems together with Unmanned Underwater Vehicles (UUVs) or Unmanned Aerial Vehicles (UAVs). These systems can be very useful in maritime security scenarios. In this paper, we present a USV LIDAR-based navigation in GNSS-denied scenarios. The scenario is one of the tasks of the Mohamed Bin Zayed International Robotics Challenge (MBZIRC). Specifically, the goal is to approach closely a vessel so that UAVs can bring small objects to the USV and a robotic arm mounted on the USV can carry large objects. Simulation results based on the official MBZIRC simulator are presented, showing the effectiveness of the approach.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA