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Fig. 1. Individual elements o
of the proposed obstacle detection and avoidance (ODA) syste
em
The rest of the paper is
ODA system whereas Sec
experimental environment
performance of the propose
Section 5 concludes this stu
s organised as follows: Section 2 describes the propo
ction 3 provides a full description of the simulation
t and scenarios which are used to investigate
ed approach. The results are discussed in Section 4 wh
udy.
osed
and
the
hilst
2
The Proposed O
ODA System
As mentioned earlier, a
autonomous craft. For man
by trained crew members
Radar Plotting Aid (ARPA
trained operator with the h
the vehicle and safely navi
to rectify this problem by
USV which require minim
following, the individual el
are described.
reliable ODA system is a vital element for a fu
nned vehicles, obstacle detection is generally accomplis
with the aid of a marine radar together with Autom
A) as well as manual lookout. For most existing USV
help of an onboard camera remotely monitors the state
gates it around the obstacles. The proposed system is a
having detection and path planning modules onboard
mal or no intervention from a human operator. In
lements of the proposed ODA system depicted in Figur
ully
hed
atic
s, a
e of
able
the
the
re 1
2.1
Pan and Tilt Scann
ner
The proposed system empl
range of the system and (b)
and the laser sensor mounte
Three different scanning
180 region. It was deemed
loys a pan and tilt device for (a) to increase the scann
) to act as a stabiliser for the high definition video cam
ed on it.
g positions have been chosen to around the USV coverin
d sufficient to scan the front and sides of the USV as
ning
mera
ng a
the
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