A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm
This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), U...
| Main Authors: | , , , , , , |
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| Format: | Article |
| Language: | English |
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MDPI AG
2022-11-01
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| Series: | Drones |
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| Online Access: | https://www.mdpi.com/2504-446X/6/12/382 |
| _version_ | 1827640861420158976 |
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| author | Vincenzo D’Angelo Paolo Folino Marco Lupia Gianfranco Gagliardi Gianni Cario Francesco Cicchello Gaccio Alessandro Casavola |
| author_facet | Vincenzo D’Angelo Paolo Folino Marco Lupia Gianfranco Gagliardi Gianni Cario Francesco Cicchello Gaccio Alessandro Casavola |
| author_sort | Vincenzo D’Angelo |
| collection | DOAJ |
| description | This paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones. |
| first_indexed | 2024-03-09T17:05:31Z |
| format | Article |
| id | doaj.art-800e4354a19a43e295d229ceafea3df9 |
| institution | Directory Open Access Journal |
| issn | 2504-446X |
| language | English |
| last_indexed | 2024-03-09T17:05:31Z |
| publishDate | 2022-11-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Drones |
| spelling | doaj.art-800e4354a19a43e295d229ceafea3df92023-11-24T14:24:44ZengMDPI AGDrones2504-446X2022-11-0161238210.3390/drones6120382A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management ParadigmVincenzo D’Angelo0Paolo Folino1Marco Lupia2Gianfranco Gagliardi3Gianni Cario4Francesco Cicchello Gaccio5Alessandro Casavola6Dipartimento di Ingegneria Informatica, Modellistica, Elettronica e Sistemistica (DIMES), Università della Calabria, 87036 Rende, Calabria, ItalyApplicon s.r.l., Viale De Filippis, 326, 88100 Catanzaro, Calabria, ItalyDipartimento di Ingegneria Informatica, Modellistica, Elettronica e Sistemistica (DIMES), Università della Calabria, 87036 Rende, Calabria, ItalyDipartimento di Ingegneria Informatica, Modellistica, Elettronica e Sistemistica (DIMES), Università della Calabria, 87036 Rende, Calabria, ItalyDipartimento di Ingegneria Informatica, Modellistica, Elettronica e Sistemistica (DIMES), Università della Calabria, 87036 Rende, Calabria, ItalyApplicon s.r.l., Viale De Filippis, 326, 88100 Catanzaro, Calabria, ItalyDipartimento di Ingegneria Informatica, Modellistica, Elettronica e Sistemistica (DIMES), Università della Calabria, 87036 Rende, Calabria, ItalyThis paper presents the design and implementation of BAICal (Intelligent Autonomous Buoy by the University of Calabria), an autonomous surface vehicle (ASV) developed at the Autonomous Systems Lab (LASA) of the Department of Computer Science, Modeling, Electronics, and Systems Engineering (DIMES), University of Calabria. The basic project was born as a research program in marine robotics with multiple applications, either in the sea or in lake/river environments, for data monitoring, search and rescue operations and diver support tasks. Mechanical and hardware designs are discussed by considering a three-degree-of-freedom (3DoF) dynamical model of the vehicle. An extension to the typical guidance, navigation, and control (GNC) software architecture is presented. The software design and the implementation of a manager module (M-GNC architecture) that allows the vehicle to autonomously coordinate missions are described. Indeed, autonomous guidance and movement are only one of several more complex tasks that mobile robots have to perform in a real scenario and that allow a long-term life cycle. Module-based software architecture is developed by using the Robot Operating System (ROS) framework that is suitable for different kinds of autonomous vehicles, such as aerial, ground, surface or underwater drones.https://www.mdpi.com/2504-446X/6/12/382autonomous vehiclesguidance navigation and control (GNC)marine applicationsrobot operating system (ROS)mission managementmodular systems architecture |
| spellingShingle | Vincenzo D’Angelo Paolo Folino Marco Lupia Gianfranco Gagliardi Gianni Cario Francesco Cicchello Gaccio Alessandro Casavola A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm Drones autonomous vehicles guidance navigation and control (GNC) marine applications robot operating system (ROS) mission management modular systems architecture |
| title | A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm |
| title_full | A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm |
| title_fullStr | A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm |
| title_full_unstemmed | A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm |
| title_short | A ROS-Based GNC Architecture for Autonomous Surface Vehicle Based on a New Multimission Management Paradigm |
| title_sort | ros based gnc architecture for autonomous surface vehicle based on a new multimission management paradigm |
| topic | autonomous vehicles guidance navigation and control (GNC) marine applications robot operating system (ROS) mission management modular systems architecture |
| url | https://www.mdpi.com/2504-446X/6/12/382 |
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