This paper presents a backseat controller suitable for Autonomous Underwater Vehicles (AUVs) which promotes quick development turn-around of novel control methods, especially for missions which require onboard re-plan...
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ISBN:
(纸本)9781538648148
This paper presents a backseat controller suitable for Autonomous Underwater Vehicles (AUVs) which promotes quick development turn-around of novel control methods, especially for missions which require onboard re-planning. This backseat controller communicates low-level control instructions to a vehicle-specific frontseat controller. Small, power efficient components comprise the backseat controller hardware, especially a Raspberry Pi computer. The backseat controller runs Robot Operating System (ROS), a middleware that facilitates implementation of novel control algorithms and use of OpenCV, an extensive collection of computer vision libraries. ROS enables the underwater community to leverage development efforts in the ground and aerial domains to accelerate progress. The backseat controller has been mated to General Dynamics Bluefin SandShark AUV. The platform has been validated in a controlled environment and is now being deployed in Lake Superior, MI, USA.
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted a...
详细信息
ISBN:
(纸本)9781728162126
Developments in mobile robot navigation have enabled robots to operate in warehouses, retail stores, and on sidewalks around pedestrians. Various navigation solutions have been proposed, though few as widely adopted as ROS (Robot Operating System) Navigation. 10 years on, it is still one of the most popular navigation solutions(1). Yet, ROS Navigation has failed to keep up with modern trends. We propose the new navigation solution, Navigation2, which builds on the successful legacy of ROS Navigation. Navigation2 uses a behavior tree for navigator task orchestration and employs new methods designed for dynamic environments applicable to a wider variety of modern sensors. It is built on top of ROS2, a secure message passing framework suitable for safety critical applications and program lifecycle management. We present experiments in a campus setting utilizing Navigation2 to operate safely alongside students over a marathon as an extension of the experiment proposed in Eppstein et al. [1]. The Navigation2 system is freely available at https://***/ros-planning/navigation2 with a rich community and instructions.
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