TY - GEN
T1 - River navigation system using Autonomous Surface Vessel
AU - Tan, Chee Sheng
AU - Arshad, Mohd Rizal
AU - Mohd-Mokhtar, Rosmiwati
N1 - Publisher Copyright:
© 2016 IEEE.
PY - 2017/4/6
Y1 - 2017/4/6
N2 - This paper presents a navigation system for an Autonomous Surface Vessel (ASV) capable of maneuvering in riverine environments. A real time vision-based navigation system is used for ASV to travel along the river. The ASV is equipped with propeller and rudder to control the speed and heading direction, respectively. Continuous stream of images are captured by camera that mounted on ASV and sent to the base station over network in real time. An image segmentation algorithm based on Hough Transform technique is implemented for waterline detection. The purpose of using Hough Transform is to perform visual based navigation that track along with the river. Besides, a high accuracy GPS receiver is installed on the ASV to provide the latitude and longitude coordinates. Data logger system helps to save the data and important information for further analysis and processing. The optical flow algorithm is implemented to detect and avoid obstacle. The ASV's navigation, control and task specific vision have been evaluated through experiments with results presented to demonstrate its capabilities.
AB - This paper presents a navigation system for an Autonomous Surface Vessel (ASV) capable of maneuvering in riverine environments. A real time vision-based navigation system is used for ASV to travel along the river. The ASV is equipped with propeller and rudder to control the speed and heading direction, respectively. Continuous stream of images are captured by camera that mounted on ASV and sent to the base station over network in real time. An image segmentation algorithm based on Hough Transform technique is implemented for waterline detection. The purpose of using Hough Transform is to perform visual based navigation that track along with the river. Besides, a high accuracy GPS receiver is installed on the ASV to provide the latitude and longitude coordinates. Data logger system helps to save the data and important information for further analysis and processing. The optical flow algorithm is implemented to detect and avoid obstacle. The ASV's navigation, control and task specific vision have been evaluated through experiments with results presented to demonstrate its capabilities.
KW - Autonomous Surface Vessel (ASV)
KW - data logger
KW - Hough Transform
KW - image segmentation
UR - http://www.scopus.com/inward/record.url?scp=85018319221&partnerID=8YFLogxK
U2 - 10.1109/USYS.2016.7893946
DO - 10.1109/USYS.2016.7893946
M3 - Conference Proceeding
AN - SCOPUS:85018319221
T3 - USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology: Theory and Applications
SP - 13
EP - 18
BT - USYS 2016 - 2016 IEEE 6th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 6th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2016
Y2 - 13 December 2016 through 14 December 2016
ER -