• 主题
高级搜索  >
历史搜索 清空历史
首页> 外文期刊>Journal of Robotic Systems >Autonomous collision detection and avoidance for ARAGON USV: Development and field tests
【24h】

Autonomous collision detection and avoidance for ARAGON USV: Development and field tests

机译：Aragon USV的自主碰撞检测和避免：开发和现场测试

获取原文
获取原文并翻译 | 示例
           
页面导航
  • 摘要
  • 著录项
  • 相似文献
  • 相关主题

摘要

This study addresses the development of algorithms for multiple target detection and tracking in the framework of sensor fusion and its application to autonomous navigation and collision avoidance systems for the unmanned surface vehicle (USV) Aragon. To provide autonomous navigation capabilities, various perception sensors such as radar, lidar, and cameras have been mounted on the USV platform and automatic ship detection algorithms are applied to the sensor measurements. The relative position information between the USV and nearby objects is obtained to estimate the motion of the target objects in a sensor-level tracking filter. The estimated motion information from the individual tracking filters is then combined in a central-level fusion tracker to achieve persistent and reliable target tracking performance. For- automatic ship collision avoidance, the combined track data are used as obstacle information, and appropriate collision avoidance maneuvers are designed and executed in accordance with the international regulations for preventing collisions at sea (COLREGs). In this paper, the development processes of the vehicle platform and the autonomous navigation algorithms are described, and the results of field experiments are presented and discussed.
机译：该研究解决了传感器融合框架中多个目标检测和跟踪的算法的开发及其在无人面车辆（USV）Aragon的自主导航和碰撞系统中的应用。为了提供自主导航能力，已经安装在USV平台上的各种感知传感器，如雷达，激光雷达和相机，并且将自动船舶检测算法应用于传感器测量。获得USV和附近对象之间的相对位置信息以估计传感器级跟踪滤波器中的目标对象的运动。然后将来自各个跟踪滤波器的估计运动信息组合在中心级融合跟踪器中，以实现持久和可靠的目标跟踪性能。对于自动船舶碰撞避免，组合的轨道数据用作障碍信息，并根据防止海上碰撞的国际法规设计和执行了适当的碰撞避税机动。在本文中，描述了车辆平台和自主导航算法的开发过程，并介绍并讨论了现场实验的结果。

著录项

相似文献

  • 外文文献
  • 中文文献
  • 专利
获取原文

客服邮箱：kefu@zhangqiaokeyan.com

京公网安备：11010802029741号 ICP备案号：京ICP备15016152号-6 六维联合信息科技 (北京) 有限公司©版权所有

  • 客服微信

  • 服务号