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A novel integrated architecture to X-in-the-loop simulation applied to ASV navigation

Published online by Cambridge University Press:  20 September 2024

Tiago Trindade Ribeiro Open the ORCID record for Tiago Trindade Ribeiro [Opens in a new window] ,
Bianca Fernandes ,
Henrique Poleselo ,
Vinicius Vidal ,
Vitor Lopes ,
Mathaus Ferreira ,
Edvaldo Neto ,
Andre Gustavo Scolari Conceicao Open the ORCID record for Andre Gustavo Scolari Conceicao [Opens in a new window]  and
Leonardo de Mello Honorio
Tiago Trindade Ribeiro*
Affiliation:
LaR - Robotics Laboratory, Department of Electrical and Computer Engineering, Salvador, Bahia, Brazil
Bianca Fernandes
Affiliation:
LaR - Robotics Laboratory, Department of Electrical and Computer Engineering, Salvador, Bahia, Brazil
Henrique Poleselo
Affiliation:
LaR - Robotics Laboratory, Department of Electrical and Computer Engineering, Salvador, Bahia, Brazil
Vinicius Vidal
Affiliation:
Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
Vitor Lopes
Affiliation:
Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
Mathaus Ferreira
Affiliation:
Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
Edvaldo Neto
Affiliation:
Santo Antônio Energia S.A, Hydroelectric plant Santo Antônio, Porto Velho, Rondônia, Brazil
Andre Gustavo Scolari Conceicao
Affiliation:
LaR - Robotics Laboratory, Department of Electrical and Computer Engineering, Salvador, Bahia, Brazil
Leonardo de Mello Honorio
Affiliation:
Faculty of Engineering, Federal University of Juiz de Fora, Juiz de Fora, Minas Gerais, Brazil
*
Corresponding author: Tiago Trindade Ribeiro; Email: [email protected]
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Abstract

Designing autonomous robotic systems for monitoring tasks in critical security scenarios requires more rigorous verification criteria. The losses associated with unsuccessful practical experiments are immeasurable, ranging from the simple loss of high-value-added equipment to those related to loss of life. This reality justifies the need to adopt an extensive framework of tools for realistic, efficient, and responsive computer simulation. This article proposes a novel integration architecture and combines open-source tools to promote the successful implementation of autonomous robotic systems in monitoring tasks. The proposed solution relies on consolidated tools like Robot Operating System (ROS), Gazebo Simulator, and ArduPilot FCU (Flight Control Unit). It includes full support for implementing XITL techniques (such as Model, Software, and Hardware) – in the Loop. Experimental results demonstrate the proposal’s effectiveness for a new model of autonomous surface vehicles (ASVs) in a realistic environment, dedicated to environmental monitoring in challenging natural conditions, commonly found in a stretch of the Madeira River – Brazil, specifically at Santo Antônio hydroelectric plant.

Keywords

service roboticsautonomous surface vesselaerial propulsion systemriver monitoringrealistic simulation systemX-in-the-loop
Type
Research Article
Information
Robotica , First View , pp. 1 - 34
Copyright
© The Author(s), 2024. Published by Cambridge University Press

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