Marine Autonomous Exploration Using a Lidar and SLAM
Chapter, Peer reviewed
Accepted version
Åpne
Permanent lenke
http://hdl.handle.net/11250/2468165Utgivelsesdato
2017Metadata
Vis full innførselSamlinger
- Institutt for marin teknikk [3473]
- Publikasjoner fra CRIStin - NTNU [38672]
Originalversjon
10.1115/OMAE2017-61880Sammendrag
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.