Approach an autonomous vessel as a single robot with Robot Operating System in virtual environment

2Citations
Citations of this article
9Readers
Mendeley users who have this article in their library.

This article is free to access.

Abstract

This project aims at developing an efficient simulation environment for the vessel navigation system. The design of the overall navigation system is described along with its application for the case study of an autonomous vessel. The UNITY and Robot Operating System were utilised as the virtual environment and the main control framework, respectively. By treating the autonomous vessel as a single robot, each part of the system was formulated to enhance the efficiency and visualisation in the development progresses for autonomous system. The virtual environment using UNITY overwhelms the space-time constraints in the testing stage. The navigation system combined with conventional navigation algorithms and a computer vision algorithm were implemented in the Robot Operating System. Hence, the navigation system was enhanced by an assistant object detection algorithm to be more active on fusing environment information. The excellence of the proposed object detection model was demonstrated with reliable performance with 94% mean Average Precision, which renders the model exhibiting visual sensibility in navigation. Overall, it is believed that this study can contribute to offering some insights into developing autonomous marine vessels.

References Powered by Scopus

You only look once: Unified, real-time object detection

41491Citations
N/AReaders
Get full text

Fast R-CNN

24733Citations
N/AReaders
Get full text

A note on two problems in connexion with graphs

19111Citations
N/AReaders
Get full text

Cited by Powered by Scopus

Autonomous Navigation System of Indoor Mobile Robots Using 2D Lidar

18Citations
N/AReaders
Get full text

Path following control for large inland ships in a restricted waterway using the nonlinear terminal sliding mode method

10Citations
N/AReaders
Get full text

Register to see more suggestions

Mendeley helps you to discover research relevant for your work.

Already have an account?

Cite

CITATION STYLE

APA

Choi, J., Jeong, B., Theotokatos, G., & Tezdogan, T. (2022). Approach an autonomous vessel as a single robot with Robot Operating System in virtual environment. Journal of International Maritime Safety, Environmental Affairs, and Shipping, 6(1), 50–66. https://doi.org/10.1080/25725084.2021.2014244

Readers' Seniority

Tooltip

PhD / Post grad / Masters / Doc 1

100%

Save time finding and organizing research with Mendeley

Sign up for free