dc.contributor.author | Ueland, Einar Skiftestad | |
dc.contributor.author | Skjetne, Roger | |
dc.contributor.author | Dahl, Andreas Reason | |
dc.date.accessioned | 2017-11-27T15:12:42Z | |
dc.date.available | 2017-11-27T15:12:42Z | |
dc.date.created | 2017-09-26T10:22:41Z | |
dc.date.issued | 2017 | |
dc.identifier.isbn | 978-0-7918-5772-4 | |
dc.identifier.uri | http://hdl.handle.net/11250/2468165 | |
dc.description.abstract | 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. | nb_NO |
dc.language.iso | eng | nb_NO |
dc.publisher | American Society of Mechanical Engineers (ASME) | nb_NO |
dc.relation.ispartof | ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering - Volume 6: Ocean Space Utilization | |
dc.title | Marine Autonomous Exploration Using a Lidar and SLAM | nb_NO |
dc.type | Chapter | nb_NO |
dc.type | Peer reviewed | nb_NO |
dc.description.version | acceptedVersion | nb_NO |
dc.identifier.doi | 10.1115/OMAE2017-61880 | |
dc.identifier.cristin | 1498126 | |
dc.description.localcode | This chapter will not be available due to copyright restrictions (c) 2017 by ASME | nb_NO |
cristin.unitcode | 194,64,20,0 | |
cristin.unitname | Institutt for marin teknikk | |
cristin.ispublished | true | |
cristin.fulltext | postprint | |
cristin.qualitycode | 1 | |