Development of an autonomous vessel control system based on the ROS2 operating system

The research focuses on the development of a control system for an autonomous vessel using the Robot Operating System 2 (ROS2). Autonomous vessels are highlighted as a promising class of robotic systems designed for various tasks in the maritime environment, including area monitoring, scientific research, search and rescue, and transport operations. Their key advantages lie in their autonomy, operational flexibility, and ability to operate in conditions hazardous to humans. The study explores the use of the modern Robot Operating System 2 for robotics, which ensures modularity, scalability, and a high degree of distributed computing. This software provides ready-made algorithms for navigation, sensor data processing, and motion control, as well as tools for testing, debugging, and data visualization, thereby accelerating development and enhancing system reliability. As part of the research, a structural diagram of the autonomous vessel control system was developed, incorporating subsystems for navigation, computer vision, motion control, and operator interaction via a shore-based console, illustrating the composition and interaction of individual operating system nodes. A device diagram is presented, showing the distribution of computing resources between the nodes. The proposed control system demonstrates the possibility of integrating various autonomous vessel subsystems into a unified system based on the common interaction logic and data exchange of the Robot Operating System 2. The application of this operating system enhances development speed, improves software reliability, simplifies the integration of complex algorithms, and ensures system flexibility for future improvements.