OUXT Polaris: Autonomous Navigation System for the 2022 Maritime RobotX Challenge
Kenta Okamoto, Akihisa Nagata, Kyoma Arai, Yusei Nagao, Tatsuki, Nishimura, Kento Hirogaki, Shunya Tanaka, Masato Kobayashi, Tatsuya Sanada,, Masaya Kataoka
TL;DR
This paper presents the development and improvements of the OUXT Polaris autonomous navigation system for maritime robots, highlighting its evolution through multiple challenges and adaptations during Covid-19 using simulation and miniature hardware.
Contribution
It introduces the enhanced vessel system design, development methods during Covid-19, and features for future maritime robot competitions.
Findings
Improved navigation system performance
Effective development during Covid-19 restrictions
Enhanced features for upcoming challenges
Abstract
OUXT-Polaris has been developing an autonomous navigation system by participating in the Maritime RobotX Challenge 2014, 2016, and 2018. In this paper, we describe the improvement of the previous vessel system. We also indicate the advantage of the improved design. Moreover, we describe the developing method under Covid-19 using simulation / miniture-size hardware and the feature components for the next RobotX Challenge.
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Taxonomy
TopicsMaritime Navigation and Safety · Underwater Vehicles and Communication Systems · Robotic Path Planning Algorithms