Modeling and visual navigation of autonomous surface vessels

Jian Hong Mei; Mohd Rizal Arshad

doi:10.4018/978-1-4666-7387-8.ch021

Modeling and visual navigation of autonomous surface vessels

Jian Hong Mei^*, Mohd Rizal Arshad

^*Corresponding author for this work

Universiti Sains Malaysia

Research output: Chapter in Book or Report/Conference proceeding › Chapter › peer-review

5 Citations (Scopus)

Abstract

In this chapter, the authors address main issues of Navigation, Guidance, and Control (NGC) and vision system of Autonomous Surface Vessels (ASV). These issues compose research problems and related research findings in recent years. Related research results are reviewed first; then the hardware and subsystem of ASVs is introduced. For the typical rudder-propeller, three degrees of freedom horizontal underactuated model is presented. Visual ASV is applied more and more in complex and unknown environment with increasing demand of obstacles avoidance. Two examples of visual applications are demonstrated. One is riverbank identification using color segmentation and Hough Transform; the other is bridge detection using optical flow.

Original language	English
Title of host publication	Handbook of Research on Advancements in Robotics and Mechatronics
Publisher	IGI Global
Pages	662-696
Number of pages	35
ISBN (Electronic)	9781466673885
ISBN (Print)	1466673877, 9781466673878
DOIs	https://doi.org/10.4018/978-1-4666-7387-8.ch021
Publication status	Published - 31 Dec 2014
Externally published	Yes

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10.4018/978-1-4666-7387-8.ch021

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Modeling and visual navigation of autonomous surface vessels

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