舰船电子工程2023，Vol.43Issue(11)：64-69,6.DOI:10.3969/j.issn.1672-9730.2023.11.013
基于ROS-Web交互的无人船定点巡航系统设计
Design of Fixed-Point Cruise System of Unmanned Surface Vehicle Based on ROS-Web Interaction
吴晖 1吴应为 2廖佳豪 2肖姿2
作者信息
- 1. 海军驻武汉地区第五代表室 武汉 430205
- 2. 中国船舶集团有限公司第七二二研究所 武汉 430205
- 折叠
摘要
Abstract
This paper takes the self-developed USV as the research object,and designs an USV fixed-point cruise system based on ROS-Web interaction based on the research of inland water surface environment fixed-point cruise.The system has free re-placement of various functional modules and interactive modes.It is easy to expand later,and can realize precise fixed-point cruise under the fixed-point cruise algorithm.In terms of fixed-point cruise,the state error Kalman filter algorithm is used to fuse the data of inertial sensor(Inertial Measurement Unit,IMU)and satellite positioning to achieve USV absolute positioning,with ROS visual-ization tools and Web pages being the display and control interface.It's proposed to use satellite map matching algorithm to establish the navigation map of the USV.Then the path planning of positioning control algorithm is used under inertial drift.The advantages of the path planning algorithm are exerted without establishing a grid map.Therefore,the autonomous navigation of the USV in re-al-time interaction is achieved.关键词
无人船/机器人操作系统/定点巡航Key words
unmanned surface vehicle(USV)/robot operating system(ROS)/fixed-point cruise分类
交通工程引用本文复制引用
吴晖,吴应为,廖佳豪,肖姿..基于ROS-Web交互的无人船定点巡航系统设计[J].舰船电子工程,2023,43(11):64-69,6.
