Solgenia：エネルギー効率の良い自律型水上タクシー応用に向けた試験船
Solgenia -- A Test Vessel Toward Energy-Efficient Autonomous Water Taxi Applications
自律型水上タクシーの実現を目指し、研究船Solgeniaを用いた自律システム、最適化、モデル予測制御、物体追跡、コンピュータビジョン、衝突回避の最新研究を体系的に概説した。
著者: Hannes Homburger, Stefan Wirtensohn, Patrick Hoher, Tim Baur, Dennis Griesser, Moritz Diehl, Johannes Reuter
分類: cs.RO, cs.SY, eess.SY
原文アブストラクト
Autonomous surface vessels are a promising building block of the future's transport sector and are investigated by research groups worldwide. This paper presents a comprehensive and systematic overview of the autonomous research vessel Solgenia including the latest investigations and recently presented methods that contributed to the fields of autonomous systems, applied numerical optimization, nonlinear model predictive control, multi-extended-object-tracking, computer vision, and collision avoidance. These are considered to be the main components of autonomous water taxi applications. Autonomous water taxis have the potential to transform the traffic in cities close to the water into a more efficient, sustainable, and flexible future state. Regarding this transformation, the test platform Solgenia offers an opportunity to gain new insights by investigating novel methods in real-world experiments. An established test platform will strongly reduce the effort required for real-world experiments in the future.
