Name
Abstract | ||
|---|---|---|
This paper describes the implementation of a low-cost Autonomous Surface Vehicle (ASV) using a behavior-based software, the MOOS-IvP. The platform used is a catamaran boat driven by two direct current motors as the propulsion system. It is embedded with a processing board with an Arduino microcontroller, a low-cost Inertial Measurement Unit (IMU) with accelerometers, gyroscopes and magnetometers, a GPS receiver and a wireless RF serial modem. The ASV communicates with a Ground Control Station (GCS) sending telemetry data and receiving navigation commands for the propulsion motors. The GCS uses the MOOS-IvP software to implement the autonomous navigation procedures and the GPS/Compass/IMU sensor fusion algorithm. Simulation and experimental results in real conditions are presented and discussed. The experimental and simulation results consist of path following missions in the presence of virtual obstacles. |
Year | DOI | Venue |
|---|---|---|
2016 | 10.1109/SYSCON.2016.7490541 | 2016 Annual IEEE Systems Conference (SysCon) |
Keywords | Field | DocType |
Autonomous Surface Vehicle,Autonomous Navigation,MOOS-IvP,Extended Kalman Filter,Sensor Fusion | Receiver autonomous integrity monitoring,Compass,Propulsion,Ground control station,Simulation,Sensor fusion,Global Positioning System,Inertial measurement unit,Engineering,Computer hardware,Assisted GPS | Conference |
Citations | PageRank | References |
1 | 0.37 | 2 |
Authors | ||
3 | ||
Name | Order | Citations | PageRank |
|---|---|---|---|
| David Issa Mattos | 1 | 2 | 0.74 |
| Douglas Soares dos Santos | 2 | 3 | 1.24 |
| Lucio Nascimento, Cairo | 3 | 5 | 1.77 |