Hello, I am the software development lead for an autonomous unmanned surface vehicle (USV) project. Despite being relatively new to this field, I am aiming for the best original software award this year and would like to benefit from the community’s experience throughout this process.
In terms of architecture, I am planning to use ROS 2. For localization, I intend to implement an EKF (Extended Kalman Filter) to fuse GPS and IMU data. For obstacle prioritization and target selection, I am considering developing a decision-making mechanism based on the Generalized Choquet Integral.
I am at a beginner level in both areas. Therefore, I would greatly appreciate advice from experienced developers regarding where to start, which resources to focus on, and what roadmap to follow when implementing this architecture. Thank you in advance.