research article
Development of a simulator for the study of path planning of an autonomous surface vehicle in lake environments
Autor
Peralta, Federico
Arzamendia López, Mario Eduardo
Gregor Recalde, Derlis Orlando
Cikel, Kevin
Bogado, Maira Santacruz
Gutierrez Reina, Daniel
Toral, Sergio
Resumen
This work presents the development of a simulator for an autonomous surface vehicle after evaluating two possible frameworks that could act as a base platform, the Robotarium and the Matlab robotics toolbox with the robotics operating system. A developed simulator is then tailored to the case of the Ypacarai Lake and some tests were carried out to follow a set of waypoints in this environment. One additional feature of the simulator is that the waypoints are set using Voronoi graphs. CONACYT – Consejo Nacional de Ciencia y Tecnología PROCIENCIA