https://scholars.lib.ntu.edu.tw/handle/123456789/625492
標題: | Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles | 作者: | Lin N.-C Benjamin M CHI-FANG CHEN Wang H.-C Hsiao Y.-C Huang Y.-W Hung C.-T Chuang T.-K Chen P.-W Huang J.-T Hsu C.-C Censi A. |
公開日期: | 2019 | 起(迄)頁: | 7219-7226 | 來源出版物: | IEEE International Conference on Intelligent Robots and Systems | 摘要: | Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains. © 2019 IEEE. |
URI: | https://www.scopus.com/inward/record.uri?eid=2-s2.0-85081159733&doi=10.1109%2fIROS40897.2019.8967798&partnerID=40&md5=19833cb79b48ea2e03cf78f1f541c673 https://scholars.lib.ntu.edu.tw/handle/123456789/625492 |
ISSN: | 21530858 | DOI: | 10.1109/IROS40897.2019.8967798 | SDG/關鍵字: | 3D printers; Autonomous vehicles; Fleet operations; Intelligent robots; Open source software; Reservoirs (water); Autonomous surface vehicles; Education and researches; Educational materials; Embedded computers; Learning-based methods; Monocular cameras; Open source package; River environment; Open systems |
顯示於: | 工程科學及海洋工程學系 |
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