2015
DOI: 10.1016/j.ifacol.2015.10.279
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Smart Sensor Based Obstacle Detection for High-Speed Unmanned Surface Vehicle

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 stati… Show more

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Cited by 29 publications
(21 citation statements)
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“…This study addresses both of these simultaneously. Many solutions related to unmanned or autonomous ships have already been presented by researchers, including basic control and steering [21,22,28] and automatic obstacle detection [9,30]. Some of these are relatively new, e.g.…”
Section: Introductionmentioning
confidence: 99%
“…This study addresses both of these simultaneously. Many solutions related to unmanned or autonomous ships have already been presented by researchers, including basic control and steering [21,22,28] and automatic obstacle detection [9,30]. Some of these are relatively new, e.g.…”
Section: Introductionmentioning
confidence: 99%
“…Although the anomalies listed above are typical of the AIS, other sensors (e.g., radar, lidar, and camera) have their own weaknesses (see, e.g., Elkins, Sellers, & Monach, 2010;Helgesen, 2019;Hermann, Galeazzi, Andersen, & Blanke, 2015;Kufoalor et al, 2019;Larson, Bruch, & Ebken, 2006;Prasad, Rajan, Rachmawati, Rajabally, & Quek, 2017;Schuster et al, 2014;Wilthil, Flåten, & Brekke, 2017). Fusion of several sensors will be needed to enhance the ASV's situational awareness, while faulttolerant strategies must be implemented to ensure that undesirable events do not lead to dangerous decisions by the ASV.…”
Section: Obstacle Tracking Fault Tolerancementioning
confidence: 99%
“…Therefore, the predicted region possibly occupied by the obstacle becomes larger further into the prediction horizon. This does not pose feasibility issues in complex scenarios since the sets do not introduce hard constraints into the optimization problem (3). Moreover, branching the nominal (straight-line) predicted trajectory at the beginning of the horizon is still useful if the actual maneuver occurs later in the horizon since the predicted (conservative) region may still be valid.…”
Section: Obstacle Motion Uncertaintymentioning
confidence: 99%
“…The maritime radar, which is a primary sensor for safe maritime navigation is useful in combination with effective obstacle tracking algorithms for autonomous collision avoidance if it produces accurate estimates of obstacle tracks, and has a low rate of false tracks and track loss. Different implementations and experimental validation of maritime target tracking algorithms are provided in [2], [3], [4]. A crucial aspect is to find a useful balance between false alarm rate and track initiation time in order to avoid detecting targets too late and also to reduce the risk of making wrong collision avoidance actions [2].…”
Section: Introductionmentioning
confidence: 99%