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2008
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Vision-based docking using an autonomous surface vehicle

8 years 9 months ago
Vision-based docking using an autonomous surface vehicle
This paper describes the development and experimental evaluation of a novel vision-based Autonomous Surface Vehicle with the purpose of performing coordinated docking manoeuvres with a target, such as an Autonomous Underwater Vehicle, on the water’s surface. The system architecture integrates two small processor units; the first performs vehicle control and implements a virtual force obstacle avoidance and docking strategy, with the second performing vision-based target segmentation and tracking. Furthermore, the architecture utilises wireless sensor network technology allowing the vehicle to be observed by, and even integrated within an ad-hoc sensor network. The system performance is demonstrated through realworld experiments.
Matthew Dunbabin, Brenton Lang, Brett Wood
Added 30 May 2010
Updated 30 May 2010
Type Conference
Year 2008
Where ICRA
Authors Matthew Dunbabin, Brenton Lang, Brett Wood
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