PERALTA SAMANIEGO, FEDERICO, Arzamendia, Mario , Gregor, Derlis , Cikel, Kevin , Santacruz, Maira , GUTIÉRREZ REINA, DANIEL, Toral, Sergio , IEEE
Si
2019 Ieee Chilean Conference On Electrical, Electronics Engineering, Information And Communication Technologies (chilecon)
Proceedings Paper
Científica
01/01/2019
000542919100077
Path planning is a relevant topic in robotics research because it allows an autonomous vehicle to find a collision-free route. Local path planning is important because it copes with the changing conditions in a dynamic environment. The Autonomous Surface Vehicles (ASV) are a type of vehicles that have been studied in the last 25 years, and also in many applications requires a local path planning for collision avoidance. Before facing the obstacles of deploying in real vehicles or hardware it is important to test different techniques in a simulator. This work presents the development of a simulator for an autonomous surface vehicle after evaluating two possible frameworks that could act as a base platform, the Robotarium and the Matlab robotics toolbox with the robotics operating system. A developed simulator is then tailored to the case of the Ypacarai Lake and some tests were carried out to follow a set of waypoints in this environment. One additional feature of the simulator is that the waypoints are set using Voronoi graphs.
Autonomous Surface Vehicle; Local Path Planning; Robotarium; Voronoi graphs