Mapping & localization for use in autonomous quay crane research - ZYC

Autonomous quay cranes (AQCs) are revolutionizing port operations by automating container handling tasks. Precise localization of the AQC's trolley is vital for safe and efficient container handling. This paper investigates the potential of Simultaneous Localization and Mapping (SLAM) algori...

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Main Author: Hilmie Bin Wazit
Other Authors: Wang Dan Wei
Format: Final Year Project
Language:English
Published: Nanyang Technological University 2024
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Online Access:https://hdl.handle.net/10356/176907
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Institution: Nanyang Technological University
Language: English
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spelling sg-ntu-dr.10356-1769072024-05-24T15:43:37Z Mapping & localization for use in autonomous quay crane research - ZYC Hilmie Bin Wazit Wang Dan Wei School of Electrical and Electronic Engineering EDWWANG@ntu.edu.sg Engineering Autonomous quay cranes (AQCs) are revolutionizing port operations by automating container handling tasks. Precise localization of the AQC's trolley is vital for safe and efficient container handling. This paper investigates the potential of Simultaneous Localization and Mapping (SLAM) algorithms for AQC mapping and localization. A comparative analysis of several SLAM algorithms was performed and evaluated. The study delineates its examination into three distinct facets within the context of AQC environments: real-time efficacy, precision, and robustness. We utilize a simulation environment built with Gazebo and Rviz to evaluate the performance of these algorithms. The chosen sensor suite includes LiDAR and IMU considering factors like accuracy, robustness, range. Our analysis focuses on how well each SLAM algorithm will simulate an AQC dynamic environment such as dynamic objects. The findings from this study will contribute to the development of robust and reliable AQC localization systems using SLAM for improved efficiency and safety in port operations. Bachelor's degree 2024-05-23T05:00:49Z 2024-05-23T05:00:49Z 2024 Final Year Project (FYP) Hilmie Bin Wazit (2024). Mapping & localization for use in autonomous quay crane research - ZYC. Final Year Project (FYP), Nanyang Technological University, Singapore. https://hdl.handle.net/10356/176907 https://hdl.handle.net/10356/176907 en A1167-231 application/pdf Nanyang Technological University
institution Nanyang Technological University
building NTU Library
continent Asia
country Singapore
Singapore
content_provider NTU Library
collection DR-NTU
language English
topic Engineering
spellingShingle Engineering
Hilmie Bin Wazit
Mapping & localization for use in autonomous quay crane research - ZYC
description Autonomous quay cranes (AQCs) are revolutionizing port operations by automating container handling tasks. Precise localization of the AQC's trolley is vital for safe and efficient container handling. This paper investigates the potential of Simultaneous Localization and Mapping (SLAM) algorithms for AQC mapping and localization. A comparative analysis of several SLAM algorithms was performed and evaluated. The study delineates its examination into three distinct facets within the context of AQC environments: real-time efficacy, precision, and robustness. We utilize a simulation environment built with Gazebo and Rviz to evaluate the performance of these algorithms. The chosen sensor suite includes LiDAR and IMU considering factors like accuracy, robustness, range. Our analysis focuses on how well each SLAM algorithm will simulate an AQC dynamic environment such as dynamic objects. The findings from this study will contribute to the development of robust and reliable AQC localization systems using SLAM for improved efficiency and safety in port operations.
author2 Wang Dan Wei
author_facet Wang Dan Wei
Hilmie Bin Wazit
format Final Year Project
author Hilmie Bin Wazit
author_sort Hilmie Bin Wazit
title Mapping & localization for use in autonomous quay crane research - ZYC
title_short Mapping & localization for use in autonomous quay crane research - ZYC
title_full Mapping & localization for use in autonomous quay crane research - ZYC
title_fullStr Mapping & localization for use in autonomous quay crane research - ZYC
title_full_unstemmed Mapping & localization for use in autonomous quay crane research - ZYC
title_sort mapping & localization for use in autonomous quay crane research - zyc
publisher Nanyang Technological University
publishDate 2024
url https://hdl.handle.net/10356/176907
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