Autonomous river navigation

Franklin D. Snyder; Daniel D. Morris; Paul H. Haley; Robert T. Collins; Andrea M. Okerholm

doi:10.1117/12.580579

Autonomous river navigation

Franklin D. Snyder, Daniel D. Morris, Paul H. Haley, Robert T. Collins, Andrea M. Okerholm

Research output: Contribution to journal › Conference article › peer-review

27 Scopus citations

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.

Original language	English (US)
Article number	28
Pages (from-to)	221-232
Number of pages	12
Journal	Proceedings of SPIE - The International Society for Optical Engineering
Volume	5609
DOIs	https://doi.org/10.1117/12.580579
State	Published - 2004
Event	Mobile Robots XVII - Philadelphia, PA, United States Duration: Oct 26 2004 → Oct 28 2004

All Science Journal Classification (ASJC) codes

Electronic, Optical and Magnetic Materials
Condensed Matter Physics
Computer Science Applications
Applied Mathematics
Electrical and Electronic Engineering

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10.1117/12.580579

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title = "Autonomous river navigation",

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.",

author = "Snyder, {Franklin D.} and Morris, {Daniel D.} and Haley, {Paul H.} and Collins, {Robert T.} and Okerholm, {Andrea M.}",

year = "2004",

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journal = "Proceedings of SPIE - The International Society for Optical Engineering",

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T1 - Autonomous river navigation

AU - Snyder, Franklin D.

AU - Morris, Daniel D.

AU - Haley, Paul H.

AU - Collins, Robert T.

AU - Okerholm, Andrea M.

PY - 2004

Y1 - 2004

N2 - 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.

AB - 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.

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Autonomous river navigation

Abstract

All Science Journal Classification (ASJC) codes

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