LIDAR-based USV close approach to vessels for manipulation purposes

Ferreira, Fausto; Kraševac, Natko; Obradović, Juraj; Milijas, Robert; Lončar, Ivan; Bogdan, Stjepan; Mišković, Nikola

doi:10.1109/oceans47191.2022.9977038

Cited by 2 publications

(1 citation statement)

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“…Our team has been also selected as a top 5 finalist team for the third phase, where the implementation will be tested in a real-world environment. This paper describes our team's second phase approach and solution to the inspection task, while the intervention task is described in [3] and [4].…”

Section: Introductionmentioning

confidence: 99%

A Search Strategy and Vessel Detection in Maritime Environment Using Fixed-Wing UAVs

Peti

Milas

Kraševac

et al. 2023

2023 IEEE Underwater Technology (UT)

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In this paper, we address the problem of autonomous search and vessel detection in an unknown GNSS-denied maritime environment with fixed-wing UAVs. The main challenge in such environments with limited localization, communication range, and the total number of UAVs and sensors is to implement an appropriate search strategy so that a target vessel can be detected as soon as possible. Thus we present informed and noninformed methods used to search the environment. The informed method relies on an obtained probabilistic map, while the noninformed method navigates the UAVs along predefined paths computed with respect to the environment. The vessel detection method is trained on synthetic data collected in the simulator with data annotation tools. Comparative experiments in simulation have shown that our combination of sensors, search methods and a vessel detection algorithm leads to a successful search for the target vessel in such challenging environments.

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Section: Introductionmentioning

confidence: 99%