This path follower controller was designed to improve multibeam sonar data captured by an Autonomous Surface Vessel. The complete analysis can be found in "K. Baxevani, G. E. Otto, A. C. Trembanis, H. G. Tanner, Optimal ASV Path-Following for Improved Marine Survey Data Quality, OCEANS Conference, pp. 1-7, 2023". Link to paper: https://www.researchgate.net/publication/370875486_Optimal_ASV_Path-Following_for_Improved_Marine_Survey_Data_Quality Link to field-testing video: https://www.youtube.com/watch?v=GDPKTioIDkU
Installation Guide
To clone and install CCOM Project11 (ROS Noetic). For more info CCOM Project11 official page
mkdir -p project11/catkin_ws/src
cd project11/catkin_ws/src
git clone https://github.com/CCOMJHC/project11.git
sudo apt-get install python3-rosdep python3-vcstool
sudo rosdep init
rosdep update
vcs import < project11/config/repos/simulator.repos
rosdep install --from-paths . --ignore-src -r -y
cd ..
catkin_make
source devel/setup.bash
roslaunch project11_simulation sim_local.launch
Clone and install UD Echoboat plugin for Project11. For more info UD Echoboat-Project11 official page
cd ~/project11/catkin_ws/src
git clone https://github.com/grant-otto/echoboat_ud_project11.git
Clone and install the UD Path Follower
cd ~/project11/catkin_ws/src
git clone https://github.com/kleiobaxevani/ud_path_follower.git
To test the controller on the simulation
source devel/setup.bash
roslaunch echoboat_ud_project11 sim_local.launch