Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

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    Abstract

    This paper describes an obstacle detection system for a high-speed and agile unmanned surface vehicle (USV), running at speeds up to 30 m/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.
    Original languageEnglish
    Book seriesI F A C Workshop Series
    Volume48
    Issue number16
    Pages (from-to)190–197
    ISSN1474-6670
    DOIs
    Publication statusPublished - 2015
    Event10th IFAC Conference on Manoeuvring and Control of Marine Craft - DTU, Lyngby, Denmark
    Duration: 24 Aug 201526 Aug 2015
    Conference number: 10
    http://www.mcmc2015.dk/

    Conference

    Conference10th IFAC Conference on Manoeuvring and Control of Marine Craft
    Number10
    LocationDTU
    Country/TerritoryDenmark
    CityLyngby
    Period24/08/201526/08/2015
    Internet address

    Keywords

    • Obstacle detection
    • Sensor fusion
    • Unmanned surface vehicle

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