Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles
Duckiepond: An Open Education and Research Environment for a Fleet of Autonomous Maritime Vehicles
复制标题
Duckiepond：为自主海上车辆舰队提供开放的教育和研究环境
DOI：
--
复制
发表时间：
2019
期刊：
影响因子：
--
通讯作者：
A. Censi
中科院分区：
文献类型：
--
作者：
Ni;M. Benjamin;Chi;Hsueh;Yu;Yi;C. Hung;Tzu;Pin;Jui;Chao;A. Censi
Duckiepond是一个教育和研究开发环境，其中包括软件系统、教育材料和一支自主水面舰队Duckiepon。Duckieboats被设计成可以很容易地复制3D打印机的部件和其他商业上可以买到的部件，并带有灵活的软件，利用了几个开源程序包。Duckiepond环境模仿Duckiown和AI驾驶奥运会的环境：Duckiepond只依赖一个单目摄像头、IMU和GPS，并使用船上的嵌入式计算机执行所有ML处理。Duckiepond协调了Docker中常用的中间件(ROS和MoOS)和集装化软件包，使其易于部署。基于学习的方法与经典方法的结合使重要的海上任务得以实现：跟踪和跟踪、导航，以及在杜基船之间进行协调以避免碰撞。鸭子船一直在人工湖、水库和河流环境中作业。所有的软件、硬件和教育材料都是开放的(https://robotx-nctu.github.io/duckiepond)，)，其目标是支持相关领域的研究和教育社区。
Duckiepond is an education and research development environment that includes software systems, educational materials, and of a fleet of autonomous surface vehicles Duckieboat. Duckieboats are designed to be easily reproducible with parts from a 3D printer and other commercially available parts, with flexible software that leverages several open source packages. The Duckiepond environment is modeled after Duckietown and AI Driving Olympics environments: Duckieboats rely only on one monocular camera, IMU, and GPS, and perform all ML processing using onboard embedded computers. Duckiepond coordinates commonly used middlewares (ROS and MOOS) and containerized software packages in Docker, making it easy to deploy. The combination of learning-based methods together with classic methods enables important maritime missions: track and trail, navigation, and coordinate among Duckieboats to avoid collisions. Duckieboats have been operating in a man-made lake, reservoir and river environments. All software, hardware, and educational materials are openly available (https://robotx-nctu.github.io/duckiepond), with the goal of supporting research and education communities across related domains.