Design of Fixed-Point Cruise System of Unmanned Surface Vehicle Based on ROS-Web Interaction
WU Hui
WU Yingwei
LIAO Jiahao
XIAO Zi
Abstract：This paper takes the self-developed USV as the research object,and designs an USV fixed-point cruise system based on ROS-Web interaction based on the research of inland water surface environment fixed-point cruise.The system has free re-placement of various functional modules and interactive modes.It is easy to expand later,and can realize precise fixed-point cruise under the fixed-point cruise algorithm.In terms of fixed-point cruise,the state error Kalman filter algorithm is used to fuse the data of inertial sensor(Inertial Measurement Unit,IMU)and satellite positioning to achieve USV absolute positioning,with ROS visual-ization tools and Web pages being the display and control interface.It's proposed to use satellite map matching algorithm to establish the navigation map of the USV.Then the path planning of positioning control algorithm is used under inertial drift.The advantages of the path planning algorithm are exerted without establishing a grid map.Therefore,the autonomous navigation of the USV in re-al-time interaction is achieved.
Keywords：unmanned surface vehicle(USV)robot operating system(ROS)fixed-point cruise
Publication Date：2023-11-20
Online Publishing Date：2025-08-15(First online date of this platform, not the publication date of the document)
Pages：6( 64-69 )