Obstacle Avoidance System with LiDAR Sensor Based Fuzzy Control for an Autonomous Unmanned Ship

Song, Hyunwoo; Lee, Kwangkook; Kim, Dong Hun

doi:10.1109/scis-isis.2018.00119

Cited by 11 publications

(4 citation statements)

References 3 publications

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“…Subsequent publications [ 18 , 19 , 20 , 21 ] presented the results of computer simulation studies and experiments of autonomous ship models. The studies presented there concerned the detection of obstacles at sea by means of radar, lidar, sonar, or cameras and the determination of a safe navigation route.…”

Section: Status Of Research On Autonomous Control Systems For Unmamentioning

confidence: 99%

Application of Measurement Sensors and Navigation Devices in Experimental Research of the Computer System for the Control of an Unmanned Ship Model

Szelangiewicz

Żelazny

Antosik³

et al. 2021

Sensors

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Unmanned autonomous transport vessels (MASS) are the future of maritime transport. The most important task in the design and construction of unmanned ships is to develop algorithms and a computer program for autonomous control. In order for such a computer program to properly control the ship (realizing various functions), the ship must be equipped with a computer system as well as measurement sensors and navigation devices, from which the recorded parameters are processed and used for autonomous control of the ship. Within the framework of conducted research on autonomous ships, an experimental model of an unmanned ship was built. This model was equipped with a propulsion system not commonly used on transport vessels (two azimuth stern thrusters and two bow tunnel thrusters), but providing excellent propulsion and steering characteristics. A complete computer system with the necessary measuring sensors and navigation devices has also been installed in the model of the ship, which enables it to perform all functions during autonomous control. The objective of the current research was to design and build a prototype computer system with the necessary measurement sensors and navigation devices with which to autonomously control the unmanned ship model. The designed computer system is expected to be optimal for planned tasks during control software tests. Tests carried out on open waters confirmed the correctness of the operation of the computer system and the entire measurement and navigation equipment of the built model of the unmanned transport vessel.

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Section: Status Of Research On Autonomous Control Systems For Unmamentioning

confidence: 99%

Application of Measurement Sensors and Navigation Devices in Experimental Research of the Computer System for the Control of an Unmanned Ship Model

Szelangiewicz

Żelazny

Antosik³

et al. 2021

Sensors

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“…They utilized filtering and clustering algorithms for point cloud data processing to extract obstacle positions. Additionally, Song H [7] introduced a collision avoidance system designed for safe navigation of unmanned vessels in dynamic environments. This system comprised a fuzzy controller based on laser radar sensors for obstacle detection.…”

Section: Introductionmentioning

confidence: 99%

An Unmanned Ship Navigation Environment Monitoring System Based on Millimeter Wave Radar

2023

International Journal of Science and Engineering Applications

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With the rapid development of artificial intelligence, maritime technology is continuously advancing, and unmanned surface vessels (USV) are gaining significant attention as emerging waterborne transportation vehicles. Environmental monitoring during the navigation of USV is a critical component. This paper employs multiple millimeter-wave radars and utilizes a multi-hypothesis tracking algorithm to successfully achieve data association, data fusion, and target tracking for millimeter-wave radar data. Finally, the proposed method is validated through real ship experiments, providing a solid theoretical foundation for autonomous navigation of USV in the future.

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“…For safety-critical tasks such as collision avoidance and autonomous docking, the GNC system must produce a detailed overview of the vehicle's environment. This is typically achieved with vision-based sensors such as cameras and LiDARs [6][7][8]. Because collision avoidance and autonomous docking are independent tasks performed by the guidance and navigation systems, respectively, they may require access to the same measurements.…”

Section: Introductionmentioning

confidence: 99%

Secure and Efficient Transmission of Vision-Based Feedback Control Signals

Volden

Solnør

Petrović

et al. 2021

J Intell Robot Syst

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An ever-increasing number of autonomous vehicles use bandwidth-greedy sensors such as cameras and LiDARs to sense and act to the world around us. Unfortunately, signal transmission in vehicles is vulnerable to passive and active cyber-physical attacks that may result in loss of intellectual property, or worse yet, the loss of control of a vehicle, potentially causing great harm. Therefore, it is important to investigate efficient cryptographic methods to secure signal transmission in such vehicles against outside threats. This study is motivated by the observation that previous publications have suggested legacy algorithms, which are either inefficient or insecure for vision-based signals. We show how stream ciphers and authenticated encryption can be applied to transfer sensor data securely and efficiently between computing devices suitable for distributed guidance, navigation, and control systems. We provide an efficient and flexible pipeline of cryptographic operations on image and point cloud data in the Robot Operating System (ROS). We also demonstrate how image data can be compressed to reduce the amount of data to be encrypted, transmitted, and decrypted. Experiments on embedded computers verify that modern software cryptographic algorithms perform very well on large sensor data. Hence, the introduction of such algorithms should enhance security without significantly compromising the overall performance.

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Obstacle Avoidance System with LiDAR Sensor Based Fuzzy Control for an Autonomous Unmanned Ship

Cited by 11 publications

References 3 publications

Application of Measurement Sensors and Navigation Devices in Experimental Research of the Computer System for the Control of an Unmanned Ship Model

Application of Measurement Sensors and Navigation Devices in Experimental Research of the Computer System for the Control of an Unmanned Ship Model

An Unmanned Ship Navigation Environment Monitoring System Based on Millimeter Wave Radar

Secure and Efficient Transmission of Vision-Based Feedback Control Signals

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