Publicação
A Self-Guided Docking Architecture for Autonomous Surface Vehicles
| Resumo: | Autonomous Surface Vehicles (ASVs) provide the ideal platform to further explore the many opportunities in the cargo shipping industry, by making it more profitable and safer. Information retrieved from a 3D LIDAR, IMU, GPS, and Camera is combined to extract the geometric features of the floating platform and to estimate the relative position and orientation of the moor to the ASV. Then, a trajectory is planned to a specific target position, guaranteeing that the ASV will not collide with the mooring facility. To ensure that the sensors are within range of operation, a module has been developed to generate a trajectory that will deliver the ASV to a catch zone where it is able to function properly. A High-Level controler is also implemented, resorting to an heuristic to evaluate if the ASV is within this operating range and also its current orientation relative to the docking platform. |
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| Autores principais: | Pedro Nuno Barbosa Leite |
| Assunto: | Engenharia electrotécnica, electrónica e informática Electrical engineering, Electronic engineering, Information engineering |
| Ano: | 2019 |
| País: | Portugal |
| Tipo de documento: | dissertação de mestrado |
| Tipo de acesso: | acesso aberto |
| Instituição associada: | Universidade do Porto |
| Idioma: | inglês |
| Origem: | Repositório Aberto da Universidade do Porto |
| Resumo: | Autonomous Surface Vehicles (ASVs) provide the ideal platform to further explore the many opportunities in the cargo shipping industry, by making it more profitable and safer. Information retrieved from a 3D LIDAR, IMU, GPS, and Camera is combined to extract the geometric features of the floating platform and to estimate the relative position and orientation of the moor to the ASV. Then, a trajectory is planned to a specific target position, guaranteeing that the ASV will not collide with the mooring facility. To ensure that the sensors are within range of operation, a module has been developed to generate a trajectory that will deliver the ASV to a catch zone where it is able to function properly. A High-Level controler is also implemented, resorting to an heuristic to evaluate if the ASV is within this operating range and also its current orientation relative to the docking platform. |
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