Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle. Issue 16 (2015)

• Record Type: Journal Article
• Authors: Hermann, D.; Galeazzi, R.; Andersen, J.C.; Blanke, M.
• Is Part Of: IFAC-PapersOnLine. Volume 48:Issue 16(2015)
• Page Start: 190
• Page End: 197
• Publication Date: 2015
• Subjects: Obstacle detection -- Sensor fusion -- Unmanned surface vehicle; Automatic control -- Periodicals; 629.805
• DOI: 10.1016/j.ifacol.2015.10.279
• Languages: English
• ISSNs: 2405-8963

Abstract

Abstract: This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30m/s. The aim is a real-time and high performance obstacle detection system using both radar and vision technologies to detect obstacles within a range of 175 m. A computer vision horizon detector enables a highly accurate attitude estimation despite large and sudden vehicle accelerations. This further facilitates the reduction of sea clutter by utilising a attitude based statistical measure. Full scale sea trials show a significant increase in obstacle tracking performance using sensor fusion of radar and computer vision.