Autonomous river navigation

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

Research output: Contribution to journalConference articlepeer-review

23 Scopus citations

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.

Original languageEnglish (US)
Article number28
Pages (from-to)221-232
Number of pages12
JournalProceedings of SPIE - The International Society for Optical Engineering
Volume5609
DOIs
StatePublished - Jan 1 2004
EventMobile Robots XVII - Philadelphia, PA, United States
Duration: Oct 26 2004Oct 28 2004

All Science Journal Classification (ASJC) codes

  • Electronic, Optical and Magnetic Materials
  • Condensed Matter Physics
  • Computer Science Applications
  • Applied Mathematics
  • Electrical and Electronic Engineering

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