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Abstract

Existing maritime navigation and reconnaissance systems require man-in-the-loop situation awareness for obstacle avoidance, area survey analysis, threat assessment, and mission re-planning. We have developed a boat with fully autonomous navigation, surveillance, and reactive behaviors. Autonomous water navigation is achieved with no prior maps or other data - the water surface, riverbanks obstacles, movers and salient objects are discovered and mapped in real-time using a circular array of cameras along with a self-directed pan-tilt camera. The autonomous boat has been tested on harbor and river domains. Results of the detection, tracking, mapping and navigation will be presented.

Notes

Number of pages: 12

Text Reference

Franklin D. Snyder, Daniel D. Morris, Paul H. Haley, Robert Collins, and Andrea M. Okerholm, "Autonomous River Navigation," Proceedings of SPIE, Mobile Robots XVII, December, 2004, pp. 221 - 232.

BibTeX Reference

@inproceedings{Morris_2004_6067,
   author = "Franklin D. Snyder and Daniel D. Morris and Paul H. Haley and Robert Collins and Andrea M. Okerholm",
   editor = "Douglas W. Gage",
   title = "Autonomous River Navigation",
   booktitle = "Proceedings of SPIE, Mobile Robots XVII",
   pages = "221 - 232",
   month = "December",
   year = "2004",
   volume = "5609",
}

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