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Autonomous collision detection and avoidance for ARAGON USV: Development and field tests
Journal of Field Robotics ( IF 8.3 ) Pub Date : 2020-01-21 , DOI: 10.1002/rob.21935
Jungwook Han 1 , Yonghoon Cho 2 , Jonghwi Kim 2 , Jinwhan Kim 2 , Nam‐sun Son 1 , Sun Young Kim 1
Affiliation  

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.

中文翻译:

ARAGON USV的自主碰撞检测和避免:开发和现场测试

这项研究解决了传感器融合框架中用于多目标检测和跟踪的算法的开发及其在无人水面飞机(USV)Aragon的自主导航和防撞系统中的应用。为了提供自主导航功能,USV平台上已经安装了各种感知传感器,例如雷达,激光雷达和摄像头,并且将自动舰船检测算法应用于传感器测量。获得USV与附近物体之间的相对位置信息,以估计目标物体在传感器级跟踪滤波器中的运动。然后,将来自各个跟踪滤波器的估计运动信息合并到中央级别的融合跟踪器中,以实现持久且可靠的目标跟踪性能。对于自动避碰船舶,将合并的航迹数据用作障碍物信息,并根据国际海上避碰法规(COLREG)设计和执行适当的避碰机动措施。本文介绍了车辆平台的开发过程和自主导航算法,并给出了现场实验的结果并进行了讨论。
更新日期:2020-01-21
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