Autonomous Path Planning and Maneuvering of a Surface Vessel :ship:

This folder contains the ros packages made for the thesis of Magnus Knaedal, spring 2020.

Installation

Have a look at the INSTALL.md file

Packages

• launching
• guidance_system
• motion_control_system
• navigation_system
• transform_mapping

System overview

launching

Contains launch and config files to run samples.

guidance_system

Code for guidance system for a stepwise maneuvering problem.

motion_control_system

Code for control system for a stepwise maneuvering problem.

navigation_system

Code for navigation system for a stepwise maneuvering problem.

transform_mapping

Package for converiting Twist msg from observer to odom msg for creating map. gmapping pkg requires odom msg.

ROS graphs

The figures shows the computation graph of the implemented GNMC system. The vertices in the graph represent ROS nodes, while the edges between them are ROS topics which the nodes communicate through. The graph is generated by the GUI plugin rqt_graph package. Nodes containing modbus in the name belongs to the OSP. The CME node is the Control Mode Executor, which is the superior node deciding in which control mode the vessel should be. The rest is self-explanatory.

Simulated ReVolt:

Real ReVolt:

Contributors

:star: Magnus Knaedal