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The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles (CROSBI ID 609134)

Prilog sa skupa u zborniku | izvorni znanstveni rad | domaća recenzija

Nađ, Đula ; Vasilijević, Antonio ; Stilinović, Nikola ; Mišković, Nikola ; Vukić, Zoran ; The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles // Proceedings of the 5th Conference on Marine Technology in memory of Academician Zlatko Winkler / Dobrinić, Julijan (ur.). Rijeka: Tehnički fakultet Sveučilišta u Rijeci, 2014. str. 205-218

Podaci o odgovornosti

Nađ, Đula ; Vasilijević, Antonio ; Stilinović, Nikola ; Mišković, Nikola ; Vukić, Zoran ;

engleski

The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles

This paper presents the application of open-source software for simulation, control and navigation of marine vehicles. The Robot Operating System, developed in 2007 at Stanford, has gained increased popularity in mobile robotics. Lately its presence in marine systems is becoming more pronounced. We describe the application of this distributed framework to simulation and real-life operation of the Cooperative Autonomous Robotic Towing System (CART). The combination of the Underwater Simulator and ROS enable visualization and testing options out-of-the-box and reduce required man-effort when developing control and navigation systems. Further we show the development process and system components of the CART vehicle. The different control approaches are analyzed and it is shown how with cooperative action vehicles can aid in ship-towing operations.

marine systems ; ROS ; robot operating system ; simulation ; control ; navigation

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Podaci o prilogu

205-218.

2014.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the 5th Conference on Marine Technology in memory of Academician Zlatko Winkler

Dobrinić, Julijan

Rijeka: Tehnički fakultet Sveučilišta u Rijeci

Podaci o skupu

Nepoznat skup

predavanje

29.02.1904-29.02.2096

Povezanost rada

Elektrotehnika