Development of a simulator for the study of path planning of an autonomous surface vehicle in lake environments

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URI
http://hdl.handle.net/20.500.14066/3663
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Author(s)
Peralta, Federico; Arzamendia López, Mario EduardoCONACYT Authority; Gregor Recalde, Derlis OrlandoCONACYT Authority; Cikel, Kevin; Bogado, Maira SantacruzCONACYT Authority; Gutierrez Reina, Daniel; Toral, Sergio
Date of publishing
2017
Type of publication
research article
Subject(s)
Abstract
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.
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