Abstract
The research of unmanned surface vehicles (usually called USV) is becoming a research hotspot, and real-time and accurate environmental perception is the key technology for achieving autonomous navigation and completing tasks of USV. In this paper, aiming at the technical problems of environmental perception of the USV, from the perspective of sensor multi-information fusion, we build a complete USV perception system (hardware platform and software system). This paper mainly studies objects on the water detection and obstacle avoidance methods based on the information fusion of lidar and vision. In addition, we also studies the method based on morphology to process the reflection of the objects on the water, and the sea-sky detection based on support vector machine (SVM) to assist the objects on the water detection. Through the construction of the USV environment perception system, improving the ability of USV environment perception, and ensuring the safety of autonomous navigation of USV. Our proposed methods have been tested by simulation experiments and actual marine experiment as well as the Hawaii Unmanned Surface Vehicles Challenge, which proves the practicability and stability of our method in the actual environment.
Highlights
With the comprehensive development of science and technology, unmanned intelligent marine vehicles are developing rapidly and are widely used in civil and military fields
The target detection algorithm is mainly based on the characteristics of water surface background or the method based on deep learning. These schemes still have the following shortcomings: (1) Most of the methods are not applied to Unmanned surface vehicles (USV), only the data collected by USV are used for simulation experiments [14]–[18]; (2) The existing methods have the problem of incompatibility between real-time and robustness, which affects the stability of USV environment perception performance; (3) The environmental perception system needs to have good signal transmission with the control system, power system, and communication system [19]–[23]
(2) Environmental perception system: This part is mainly responsible for collecting the environmental perception data of the ‘‘WAM-V-USV’’ test platform, which consists of the corresponding image processing program, laser radar data processing program and camera, laser radar and processing industrial computer hardware composition
Summary
With the comprehensive development of science and technology, unmanned intelligent marine vehicles are developing rapidly and are widely used in civil and military fields. Unmanned surface vehicles (USV) is an intelligent system that is unmanned, relies on remote control or completely autonomous way to navigate on the water surface. It can carry a variety of sensors, special equipment or weapons to perform anti-mine, anti-submarine, anti-ship, maritime security and electronic warfare tasks in the target sea area. Carrying out research on surface moving target detection and obstacle avoidance technology based on optical vision and lidar information fusion, which will help it complete tasks such as autonomous planning, autonomous collision avoidance and environmental monitoring, so as to avoid collisions between USV and surface targets. It can ensure the accuracy of the information of the monitoring target, and improve the intelligence level of the USV itself and the ability to perform tasks
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