Testing of Autonomous Roboboat using ROS Kinetic
Автор: Oren Research Group
Загружено: 2020-11-30
Просмотров: 129
Описание:
System is ubuntu 16.04 running ROS Kinetic. Main sensor used is a Zed stereocamera, computation is handled using a Nvidia GTX 750ti, 16gb ram, and a i7-6700k. Zed cam is used for odometry and buoy acquisition. Unfortunately as of now, the navigation stack wasn't used(had issues with it). I was able to get the goal stack working, but because I couldn't localize the robot, positions of things in the reference frame were incorrect, so navigation with goals was left in code but commented out. Boat in current state detects buoys according to HSV values defined, gets the distance using the Zed point cloud generated, then attempts to navigate based on relative position of buoys with respect to the boat. This naïve solution means that if a buoy isn't continuously detected each frame, the navigation logic can be faulty(as evidenced in the video).
During testing of the goal based solution, as long as the buoy is detected in at least one frame, we know where it is in the base map.
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