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Marine Autonomous Exploration Using a Lidar and SLAM

[+] Author Affiliations
Einar S. Ueland, Roger Skjetne, Andreas R. Dahl

Norwegian University of Science and Technology (NTNU), Trondheim, Norway

Paper No. OMAE2017-61880, pp. V006T05A029; 10 pages
doi:10.1115/OMAE2017-61880
From:
  • ASME 2017 36th International Conference on Ocean, Offshore and Arctic Engineering
  • Volume 6: Ocean Space Utilization
  • Trondheim, Norway, June 25–30, 2017
  • Conference Sponsors: Ocean, Offshore and Arctic Engineering Division
  • ISBN: 978-0-7918-5772-4
  • Copyright © 2017 by ASME

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.

Copyright © 2017 by ASME

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