Integrated development environment of autonomic software for USV (Unmanned Surface Vehicle) based on ROS (Robot Operating System)

摘要

The USV (Unmanned Surface Vehicle) mainly performs mine detection and maritime surveillance and reconnaissance. To carry out various strategies unmanned, the autonomic software mounted on USV takes charge of detection, decision, and command procedure itself. To operate various hardware on USV, the autonomic software should include complicated control algorithms, and the communication between the control algorithms and the hardware is required. In this study, an integrated simulation environment was proposed to verify and improve the control algorithms of the autonomic software, based on a virtual prototype of USV and ROS (Robot Operating System). Then, various tests were performed including mine detection, path following, and entry/departure control scenario. As a result, it can be seen that the environment can be effectively used to develop the autonomic software for USV with less time and cost.