MBZIRC TUTORIAL 3: Autonomous catamaran in GNSS-denied operation for search and intervention at sea by UNIZG-FER
In this tutorial, we will explore advanced solutions from the MBZIRC 2023 competition, specifically focusing on GNSS-denied navigation and the identification and tracking of a target vessel in a large marine environment. The tutorial is divided into two sections. The first section addresses GNSS-denied navigation, demonstrating how an autonomous USV operates without global localization systems. Participants will delve into the enabling algorithms and gain a comprehensive understanding of their functionality. The second section focuses on tracking a target object using LIDAR scans onboard the vehicle. Participants will learn about the capabilities of LIDAR technology for clustering and tracking objects, which is particularly useful for autonomous navigation and collision avoidance at sea. By the end of this tutorial, participants will have a solid grasp of using LIDAR technology in modern autonomous systems for marine environments.