ROS-based unmanned ship multi-sensor fusion multi-mode obstacle avoidance system

• Main Authors: MO YUANHAO, QIAO JUNFEI, TENG YINGXUAN, WANG ZICHEN, LIU QIANZE, SHEN BOYANG, FU ANQI, FENG JINCHEN
• Format: Patent
• Language: Chinese; English
• Published: 04.08.2023
• Subjects: CONTROLLING; PHYSICS; REGULATING; SYSTEMS FOR CONTROLLING OR REGULATING NON-ELECTRIC VARIABLES

The invention provides an unmanned ship multi-sensor fusion multi-mode obstacle avoidance system based on ROS, which is characterized by comprising three parts, namely sensors, a controller and an actuator, and in the system, a laser radar, an industrial camera, an inertial measurement unit and a GPS module are used for sensing the surrounding environment and obtaining attitude and position information, and belong to the sensors of the system; the artificial intelligence development board and the single-chip microcomputer are main control modules, make decisions through a built-in algorithm according to input, and belong to controllers of the system; the driving controller and the driving mechanical device are used for executing decisions of the controller and belong to executors of the system; according to the invention, a multi-sensor distributed modular architecture is used, so that all functions are coupled together, tasks can be executed in a multi-thread manner at the same time, the computing power is g