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Author(s): Pedro Nuno Barbosa Leite
Title: A Self-Guided Docking Architecture for Autonomous Surface Vehicles
Issue Date: 2019-07-16
Abstract: 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.
Subject: Engenharia electrotécnica, electrónica e informática
Electrical engineering, Electronic engineering, Information engineering
Scientific areas: Ciências da engenharia e tecnologias::Engenharia electrotécnica, electrónica e informática
Engineering and technology::Electrical engineering, Electronic engineering, Information engineering
TID identifier: 202396843
Document Type: Dissertação
Rights: openAccess
Appears in Collections:FEUP - Dissertação

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