In this paper, we present the development of autonomous navigation capabilities for small cruise boats, and their verification by field experiments in a canal and its surrounding waters. A cruise boat was converted to an autonomous surface vehicle (ASV) by installing various sensors and actuators to enable autonomous navigation. Navigation and perception sensors, such as global positioning system, attitude and heading reference system, radar, light detection and ranging (LiDAR), and cameras, were mounted on the ASV to estimate its motion and perceive the surrounding environment. Motors and potentiometers were installed for active control of the ASV. Software system components including navigation filters, object-detection, path-planning, and control algorithms were designed and implemented. In the narrow canal region, LiDARs were used to detect the side walls and boundaries of the canal. In open areas outside the canal, obstacles and object features were detected using various combinations of onboard sensors. A model-based path-planning algorithm was designed to avoid the detected obstacles, and the line-of-sight guidance was employed to control the vehicle. The performance of the developed system was verified through a field experiment in a real-world maritime environment.

中文翻译：

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运河及周边近岸环境中船舶自主导航现场实验

在本文中，我们介绍了小型游船自主导航能力的发展，以及通过在运河及其周边水域进行现场实验进行的验证。通过安装各种传感器和执行器以实现自主导航，一艘游船被改装为自主水面车辆（ASV）。 ASV 上安装了导航和感知传感器，例如全球定位系统、姿态和航向参考系统、雷达、光探测和测距 (LiDAR) 以及摄像头，以估计其运动并感知周围环境。安装了电机和电位器来主动控制 ASV。设计并实现了软件系统组件，包括导航过滤器、目标检测、路径规划和控制算法。在狭窄的运河区域，激光雷达用于检测运河的侧壁和边界。在运河外的开放区域，使用各种板载传感器组合检测障碍物和物体特征。设计了基于模型的路径规划算法来避开检测到的障碍物，并采用视线引导来控制车辆。所开发系统的性能通过现实海洋环境中的现场实验得到验证。