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https://hdl.handle.net/10216/121192| 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 |
| DOI: | 10.34626/sqb0-5y52 |
| TID identifier: | 202396843 |
| URI: | https://hdl.handle.net/10216/121192 |
| Document Type: | Dissertação |
| Rights: | openAccess |
| License: | https://creativecommons.org/licenses/by-nc-nd/4.0/ |
| Appears in Collections: | FEUP - Dissertação |
Files in This Item:
| File | Description | Size | Format | |
|---|---|---|---|---|
| 343085.pdf | A Self-Guided Docking Architecture for Autonomous Surface Vehicles | 3.99 MB | Adobe PDF |  View/Open |
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