This project presents a Webots simulation environment and a vision-based autonomous docking algorithm for robotic vessels with a novel latching system that enables robotic boats to create dynamic united floating infrastructure while overcoming water disturbances.
This project is fonded by China National Innovation and Entrepreneurship Training Program.
- Docking scene simulation in Webots
- Vision-based autonomous docking algorithm
- ArUco pose estimation
- Omni-directional locomotion controller
- GPS and IMU filtering with the moving window filter
latching_demo1.mp4
Control I: Minimize lateral distance
Control II: Minimize longitudinal distance
Control III: Minimize the angle
- Webots R2021b or above
opencv_contrib_python
inputs
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