设计和实施一个低成本的智能无人驾驶地面车辆
Piyabhum Chaysri1, Christos Spatharis1, Kostas Vlachos1
1Department of Computer Science & Engineering, University of Ioannina, 45110 Ioannina, Greece.
Sensors (Basel, Switzerland)
|May 25, 2024
概括
本研究介绍了一种低成本,可定制的无人地面车辆 (USV),旨在实现可访问性和最低功耗. 开发的USV具有自主导航和避免碰撞的功能,适合机器人比赛.
科学领域:
- 海洋机器人 海洋机器人
- 自主系统工程 自主系统工程
- 控制系统 控制系统
背景情况:
- 高昂的成本和复杂性限制了无人驾驶地面车辆 (USV) 的使用.
- 需要适应性强,低功耗的USV平台,用于研究和比赛.
- 现有的USV设计往往缺乏可定制性和可负担性.
研究的目的:
- 详细设计和建造一个1000欧元以下的经济性USV.
- 为了实现高适应性,可定制性和最低功耗.
- 开发一个智能控制器,用于自主导航和避免碰撞.
主要方法:
- 用于船舶建造的易于访问的部件.
- 专注于优先考虑最低功耗的设计.
- 研究了用于控制器开发的强化学习策略.
- 在干扰下进行了USV导航的初步模拟.
主要成果:
- 成功设计和建造了一种功能性,低成本的USV.
- 美国舰艇展示了自主海上导航和避免碰撞的能力.
- 预先的模拟显示了用于导航的强大的智能控制器的潜力.
结论:
- 拟议的低成本USV设计提高了机器人竞赛和研究的可访问性.
- 强化学习显示出开发强大的USV导航控制器的前景.
- 开发的USV具有适应性,可定制性,适合各种海洋应用.
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