Advances in Autonomous Obstacle Avoidance for Unmanned Surface Vehicles

Abstract

The Space and Naval Warfare Systems Center, San Diego has been involved in the continuing development of obstacle avoidance for unmanned surface vehicles (USVs) towards the aim of a high level of autonomous navigation. An autonomous USV can fulfill a variety of missions and applications that are of increasing interest for the US Navy and other Department of Defense and Department of Homeland Security organizations. The USV obstacle avoidance package is being developed first by accurately creating a world model based on various sensors such as vision, radar, and nautical charts. Then, with this world model the USV can avoid obstacles with the use of a far-field deliberative obstacle avoidance component and a near-field reactive obstacle avoidance component. This paper addresses the advances made in USV obstacle avoidance during the last two years.

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Document Details

Document Type
Technical Report
Publication Date
Jan 01, 2007
Accession Number
ADA475547

Entities

People

  • Jacoby Larson
  • John A. Rogers
  • Michael Bruch
  • Robert Webster
  • Ryan Halterman

Organizations

  • Naval Information Warfare Systems Command

Tags

Communities of Interest

  • Air Platforms
  • Autonomy
  • Sensors

DTIC Thesaurus Topics

  • Algorithms
  • Autonomous Navigation
  • Collision Avoidance
  • Computer Stereo Vision
  • Computer Vision
  • Control Systems
  • Far Field
  • Jet Propulsion
  • Navigation
  • Near Field
  • Sea Clutter
  • Target Tracking
  • Unmanned Ground Vehicles
  • Unmanned Surface Vehicles
  • Unmanned Systems
  • Unmanned Vehicles
  • Vehicles

Readers

  • Robotics and Automation.
  • Systems Analysis and Design
  • Unmanned Aerial System (UAS) Autonomous Capabilities and Mission Reconnaissance.

Technology Areas

  • Autonomy
  • Space
  • Space - Spacecraft Maneuvers