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Development of USV Autonomy for the 2014 Maritime RobotX Challenge

机译：为2014海事RobotX挑战赛开发USV自主权

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The inaugural Maritime RobotX Challenge competition was held in Marina Bay, Singapore between October 20-26 in 2014. The competition composed of five mission tasks in which intelligence is the single most important factor, and all the mission tasks were required to be performed autonomously with no human intervention. We participated in the competition as the KAIST team with our own unmanned surface vehicle integrated with various sensors for autonomous navigation and perception. All the software algorithms for vehicle autonomy including mission management, environmental perception, path planning and control were developed and applied in the actual competition. This paper describes the given mission tasks of the competition and how the vehicle intelligence and control algorithms were designed in order to perform those mission tasks autonomously.
机译：首届Maritime RobotX Challenge竞赛于2014年10月20日至26日在新加坡滨海湾举行。竞赛由五项任务组成，其中智力是最重要的因素，所有任务均需自动执行无需人工干预。我们作为KAIST团队参加了比赛，我们将自己的无人飞行器与各种传感器集成在一起，以实现自主导航和感知。开发了用于车辆自动驾驶的所有软件算法，包括任务管理，环境感知，路径规划和控制，并将其应用于实际比赛中。本文描述了比赛中给定的任务任务，以及如何设计车辆智能和控制算法以自主执行这些任务任务。

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