Design and Implementation of Autonomous Navigation System for Mobile Harbors

被引：0
|
作者：
Shin, Iksu [2 ]
Bang, Yuseok [2 ]
Kim, Donghoon [2 ]
Jung, Jongdae
Myung, Hyun [1 ,2 ]
机构：
[1] Korea Adv Inst Sci & Technol, Dept Civil & Environm Engn, Taejon 305701, South Korea
[2] Korea Adv Inst Sci & Technol, Robot Program, Taejon 305701, South Korea
来源：
TRENDS IN INTELLIGENT ROBOTICS | 2010年 / 103卷
关键词：
Mobile Harbor; Underwater Surface Vehicle; Navigation System; Localization; Multiple navigation System;
D O I：
暂无
中图分类号：
TP18 [人工智能理论];
学科分类号：
081104 ; 0812 ; 0835 ; 1405 ;
摘要：
This paper describes an implementation of an autonomous navigation system for a USV-type Mobile Harbor (MH) prototype and for multiple MHs. The MH is a novel maritime container transport solution that can go out to a ship to load/unload containers at sea and take them to their destination ports. We demonstrate the feasibility of the navigation system for a MH by performing experiments using a prototype in a basin. A devised multiple navigation system enables multiple MHs navigate safely without colliding with each other. In the initial stage of path planning, 3D optimal path planning algorithm in Configuration-Time space is performed. When the MHs navigate using those generated paths, the decentralized and delayed path planning method is performed in real-time by predicting the collision expected regions. To demonstrate the feasibility of this algorithm, simulations were performed.
引用
收藏
页码：218 / +
页数：2
相关论文
共 50 条
  • [41] The System Design of an Autonomous Mobile Welding Robot
    Le, Jian
    Zhang, Hua
    Chai, Ze
    He, Yinshui
    Chen, Xiaoqi
    JOURNAL OF CIRCUITS SYSTEMS AND COMPUTERS, 2021, 30 (11)
  • [42] Technical Research, System Design and Implementation of Docking between AUV and Autonomous Mobile Dock Station
    Zheng R.
    Lü H.
    Yu C.
    Han X.
    Li M.
    Wei A.
    Jiqiren/Robot, 2019, 41 (06): : 713 - 721
  • [43] Design and Implementation of Autonomous Parallel and Vertical Parking Mobile Vehicle
    Kizil, Abdullah
    Kutlucan, Arzuman Can
    Dogan, Cihad
    Kocak, Sena
    Sezer, Volkan
    2018 6TH INTERNATIONAL CONFERENCE ON CONTROL ENGINEERING & INFORMATION TECHNOLOGY (CEIT), 2018,
  • [44] Design and Implementation of an Autonomous Mobile Robot for Fabric Fluff Collection
    Seesurun, Guru-Abhivaysh
    Gooroochurn, Mahendra
    IEEE ELECTRICAL DESIGN OF ADVANCED PACKAGING AND SYSTEMS, EDAPS 2023, 2023,
  • [45] System on Chip Implementation of a Fuzzy Logic Based Autonomous Robot Navigation System
    Tigaeru, Liviu
    2019 IEEE 25TH INTERNATIONAL SYMPOSIUM FOR DESIGN AND TECHNOLOGY IN ELECTRONIC PACKAGING (SIITME 2019), 2019, : 236 - 239
  • [46] Design and Implementation of a Mobile Robot with Autonomous Door Opening Ability
    Su, Hong-Rui
    Chen, Kuo-Yi
    INTERNATIONAL JOURNAL OF FUZZY SYSTEMS, 2019, 21 (01) : 333 - 342
  • [47] Design and Implementation of Complete Coverage Strategy for Autonomous Mobile Robot
    Wang Fei
    Wen Shiguang
    Wu Chengdong
    Guo Liang
    2011 30TH CHINESE CONTROL CONFERENCE (CCC), 2011, : 3631 - 3635
  • [48] Design and Implementation of a Mobile Robot with Autonomous Door Opening Ability
    Hong-Rui Su
    Kuo-Yi Chen
    International Journal of Fuzzy Systems, 2019, 21 : 333 - 342
  • [49] Design and Implementation of Mobile Manipulator System
    You, Yugen
    Fan, Zhun
    Chen, Wenzhao
    Zhu, Guijie
    Qiu, Benzhang
    Xin, Jiaming
    Chen, Jingming
    Deng, Furong
    Hou, Youzhao
    Liang, Weixiang
    Fu, Runzhan
    2019 9TH IEEE ANNUAL INTERNATIONAL CONFERENCE ON CYBER TECHNOLOGY IN AUTOMATION, CONTROL, AND INTELLIGENT SYSTEMS (IEEE-CYBER 2019), 2019, : 113 - 118
  • [50] The Design and Implementation of Mobile Learning System
    Han, Qiang
    PROCEEDINGS OF THE 2017 7TH INTERNATIONAL CONFERENCE ON MECHATRONICS, COMPUTER AND EDUCATION INFORMATIONIZATION (MCEI 2017), 2017, 75 : 24 - 28
12345