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Pregled bibliografske jedinice broj: 689705

Zbornik radova

Autori: Nađ, Đula; Vasilijević, Antonio; Stilinović, Nikola; Mišković, Nikola; Vukić, Zoran;
Naslov: The Robot Operating System (ROS) in Simulation, Control and Navigation of Marine Vehicles
Izvornik: Proceedings of the 5th Conference on Marine Technology in memory of Academician Zlatko Winkler / Dobrinić, Julijan (ur.). - Rijeka : Sveučilište u Rijeci, Tehnički fakultet (University of Rijeka, Faculty of Engineering) , 2014. 205-218.
Skup: 5th Conference on Marine Technology in memory of Academician Zlatko Winkler
Mjesto i datum: Rijeka, Hrvatska, 22.-23.11.2013.
Ključne riječi: marine systems ; ROS ; robot operating system ; simulation ; control ; navigation
Sažetak:
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.
Vrsta sudjelovanja: Predavanje
Vrsta prezentacije u zborniku: Cjeloviti rad (više od 1500 riječi)
Vrsta recenzije: Domaća recenzija
Izvorni jezik: ENG
Kategorija: Znanstveni
Znanstvena područja:
Elektrotehnika
Puni text rada: 689705.Winkler-ROS_in_Control_and_Navigation_of_Underwater_Vehicles.docx (tekst priložen 28. Vel. 2014. u 11:20 sati)
Upisao u CROSBI: Đula Nađ (dula.nad@fer.hr), 28. Vel. 2014. u 11:20 sati



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