Exteroceptive Sensor-based Control

We are currently conducting research on high-speed robot control with exteroceptive sensors only.

In particular, we are working with our Kingfisher USV to autonomously follow lake shores with a controller capable of reaching high speed while being reliable, adaptable and keeping a constant distance to the shore. While the controller itself relies on an RTK GPS and an IMU to estimate the state of the system, the track inside which the robot navigates is inferred from exteroceptive sensors only, a 2D Lidar.

 

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This runs real-time onboard our boat, equipped with a NVIDIA Jetson Xavier GPU and an RTK GPS for precise localisation.

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