Naslov
The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles

Autori
Nađ, Đula ; Vasilijević, Antonio ; Stilinović, Nikola ; Mišković, Nikola ; Vukić, Zoran ;

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

Izvornik
Proceedings of the 5th Conference on Marine Technology in memory of Academician Zlatko Winkler / Dobrinić, Julijan - Rijeka : Tehnički fakultet Sveučilišta u Rijeci, 2014, 205-218

Skup
5th Conference on Marine Technology in memory of Academician Zlatko Winkler

Mjesto i datum
Rijeka, Hrvatska, 22.11.2013. - 23.11.2013

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Domaća recenzija

Ključne riječi
marine systems ; ROS ; robot operating system ; simulation ; control ; navigation

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika

POVEZANOST RADA