GitHub repository: nickname0820/Inspections-of-challenging-aquatic-environments-using-an-autonomous-surface-vehicle
Created: 2021-11-23T17:14:21Z
Description: The University of Manchester has developed an autonomous surface vehicle (ASV) for the inspection of nuclear storage ponds, called MallARD. This project will develop a stabilisation system that can compensate for the roll and pitch of MallARD so that a LiDAR can be used for localisation in confined spaces. Currently, roll and pitch is uncompensated and causes errors in the 2D LiDAR scan when disturbances are encountered. In this project a high spec multibeam LiDAR will be utilised and a ‘software gimbal’ will be implemented by selecting individual scan points from the 16 beams to generate a single level 2D scan. The system will be tested on a hardware simulation platform, El-MallARD, which utilises 4 omni-wheels. It will then be implemented and tested on the MallARD in a test pond.