MARINE AUTONOMOUS EXPLORATION USING A LIDAR AND SLAM

被引：0
|
作者：
Ueland, Einar S. [1 ]
Skjetne, Roger [1 ]
Dahl, Andreas R. [1 ]
机构：
[1] Norwegian Univ Sci & Technol NTNU, Dept Marine Technol, Ctr Autonomous Marine Operat & Syst NTNU AMOS, NO-7491 Trondheim, Norway
来源：
PROCEEDINGS OF THE ASME 36TH INTERNATIONAL CONFERENCE ON OCEAN, OFFSHORE AND ARCTIC ENGINEERING, 2017, VOL 6 | 2017年
关键词：
D O I：
暂无
中图分类号：
P75 [海洋工程];
学科分类号：
0814 ; 081505 ; 0824 ; 082401 ;
摘要：
This paper presents the implementation of a 2D-lidar to a model-scale surface vessel, and the design of a control system that makes the vessel able to perform autonomous exploration of a small-scale marine environment by the use of the lidar and SLAM. This includes a presentation and discussion of experimental results. The completion of this system has involved the development of a suitable control system that merges exploration strategies, path planners, a motion controller, and a strategy for generating controller setpoints. The system was implemented on the Robot Operating System platform, which made it possible to utilize open-source algorithms for state of the art SLAM.
引用
收藏
页数：10
相关论文
共 50 条
  • [31] ZUST Campus: A Lightweight and Practical LiDAR SLAM Dataset for Autonomous Driving Scenarios
    He, Yuhang
    Li, Bo
    Ruan, Jianyuan
    Yu, Aihua
    Hou, Beiping
    ELECTRONICS, 2024, 13 (07)
  • [32] LIDAR Graph SLAM based Autonomous Vehicle Maps using XY and Yaw Dead-Reckoning Measurements
    Aldibaja, Mohammad
    Yanase, Reo
    Suganuma, Naoki
    Furuya, Takahiro
    Oko, Akitaka
    2021 IEEE INTERNATIONAL CONFERENCE ON MECHATRONICS AND AUTOMATION (IEEE ICMA 2021), 2021, : 1119 - 1125
  • [33] Intelligent Robotic System for Autonomous Exploration and Active SLAM in Unknown Environments
    Meng, Zehui
    Sun, Hao
    Qin, Hailong
    Chen, Ziyue
    Zhou, Cihang
    Ang, Marcelo H., Jr.
    2017 IEEE/SICE INTERNATIONAL SYMPOSIUM ON SYSTEM INTEGRATION (SII), 2017, : 651 - 656
  • [34] Autonomous Indoor Exploration with an Event-Based Visual SLAM System
    Hoffmann, Raoul
    Weikersdorfer, David
    Conradt, Jorg
    2013 EUROPEAN CONFERENCE ON MOBILE ROBOTS (ECMR 2013), 2013, : 38 - 43
  • [35] Active SLAM-Based Algorithm for Autonomous Exploration with Mobile Robot
    Trivun, Darko
    Salaka, Edin
    Osmankovic, Dinko
    Velagic, Jasmin
    Osmic, Nedim
    2015 IEEE INTERNATIONAL CONFERENCE ON INDUSTRIAL TECHNOLOGY (ICIT), 2015, : 74 - 79
  • [36] Application of simultaneous localisation and mapping (SLAM) in autonomous exploration of urban environments
    Cooke, A
    Greenway, P
    le Maistre, M
    Manley, R
    Mullin, D
    Nicholson, D
    Swinnerton, J
    Valachis, D
    Wright, A
    SIGNAL PROCESSING, SENSOR FUSION, AND TARGET RECOGNITION XII, 2003, 5096 : 444 - 454
  • [37] An Improved Frontier Point Exploration System for Mobile Robots Based on LiDAR SLAM
    Zhang, Yidi
    Chen, Liheng
    Xu, Qingsong
    2023 IEEE INTERNATIONAL CONFERENCE ON DEVELOPMENT AND LEARNING, ICDL, 2023, : 282 - 287
  • [38] Autonomous Robotic Exploration Using Occupancy Grid Maps and Graph SLAM Based on Shannon and Renyi Entropy
    Carrillo, Henry
    Dames, Philip
    Kumar, Vijay
    Castellanos, Jose A.
    2015 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA), 2015, : 487 - 494
  • [39] Robust Underwater SLAM using Autonomous Relocalisation
    Willners, Jonatan Scharff
    Carreno, Yaniel
    Xu, Shida
    Luczynski, Tomasz
    Katagiri, Sean
    Roe, Joshua
    Pairet, Eric
    Petillot, Yvan
    Wang, Sen
    IFAC PAPERSONLINE, 2021, 54 (16): : 273 - 280
  • [40] The LIDAR odometry in the SLAM
    Kirnos, Vasilii
    Antipov, Vladimir
    Priorov, Andrey
    Kokovkina, Vera
    PROCEEDINGS OF THE 2018 23RD CONFERENCE OF OPEN INNOVATIONS ASSOCIATION (FRUCT), 2018, : 180 - 185
12345