DuckietownからRobotXへ：自律水上艇のAI運転に向けて
Team NCTU: Toward AI-Driving for Autonomous Surface Vehicles -- From Duckietown to RobotX
DuckietownのAI-Driving Olympicsの枠組み（Dockerコンテナ化と統一AIエージェント）をRobotXの自律水上艇に適用し、ROS/MOOSの統合やシミュレーションから実機への機能開発、評価用屋外プラットフォーム構築を行った。
著者: Yi-Wei Huang, Tzu-Kuan Chuang, Ni-Ching Lin, Yu-Chieh Hsiao, Pin-Wei Chen, Ching-Tang Hung, Shih-Hsing Liu, Hsiao-Sheng Chen, Ya-Hsiu Hsieh, Ching-Tang Hung, Yen-Hsiang Huang, Yu-Xuan Chen, Kuan-Lin Chen, Ya-Jou Lan, Chao-Chun Hsu, Chun-Yi Lin, Jhih-Ying Li, Jui-Te Huang, Yu-Jen Menn, Sin-Kiat Lim, Kim-Boon Lua, Chia-Hung Dylan Tsai, Chi-Fang Chen, Hsueh-Cheng Wang
分類: cs.RO
原文アブストラクト
Robotic software and hardware systems of autonomous surface vehicles have been developed in transportation, military, and ocean researches for decades. Previous efforts in RobotX Challenges 2014 and 2016 facilitates the developments for important tasks such as obstacle avoidance and docking. Team NCTU is motivated by the AI Driving Olympics (AI-DO) developed by the Duckietown community, and adopts the principles to RobotX challenge. With the containerization (Docker) and uniformed AI agent (with observations and actions), we could better 1) integrate solutions developed in different middlewares (ROS and MOOS), 2) develop essential functionalities of from simulation (Gazebo) to real robots (either miniaturized or full-sized WAM-V), and 3) compare different approaches either from classic model-based or learning-based. Finally, we setup an outdoor on-surface platform with localization services for evaluation. Some of the preliminary results will be presented for the Team NCTU participations of the RobotX competition in Hawaii in 2018.
関連論文
- 長期運用向け自律型水上艇の設計自律水上艇
