Autonomous river navigation

Franklin D. Snyder; Daniel D. Morris; Paul H. Haley; Robert T. Collins; Andrea M. Okerholm

doi:10.1117/12.580579

29 December 2004 Autonomous river navigation

Franklin D. Snyder, Daniel D. Morris, Paul H. Haley, Robert T. Collins, Andrea M. Okerholm

Proceedings Volume 5609, Mobile Robots XVII; (2004) https://doi.org/10.1117/12.580579
Event: Optics East, 2004, Philadelphia, Pennsylvania, United States

Abstract

Existing maritime navigation and reconnaissance systems require man-in-the-loop situation awareness for obstacle avoidance, area survey analysis, threat assessment, and mission re-planning. We have developed a boat with fully autonomous navigation, surveillance, and reactive behaviors. Autonomous water navigation is achieved with no prior maps or other data − the water surface, riverbanks obstacles, movers and salient objects are discovered and mapped in real-time using a circular array of cameras along with a self-directed pan-tilt camera. The autonomous boat has been tested on harbor and river domains. Results of the detection, tracking, mapping and navigation will be presented.

Citation Download Citation

Franklin D. Snyder, Daniel D. Morris, Paul H. Haley, Robert T. Collins, and Andrea M. Okerholm "Autonomous river navigation", Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); https://doi.org/10.1117/12.580579

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