Towards coordinated vision-based docking using an Autonomous Surface Vehicle

Dunbabin, Matthew, Lang, Brenton, & Wood, Brett (2007) Towards coordinated vision-based docking using an Autonomous Surface Vehicle. In Proceedings of the Australasian Conference on Robotics and Automation 2007, Australian Robotics & Automation Association, Brisbane, Queensland, Australia, pp. 1-8.

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Abstract

This paper describes the development and experimental evaluation of a novel vision-based Autonomous Surface Vehicle with the purpose of performing coordinated docking manoeuvres with a target, such as an Autonomous Underwater Vehicle, on the water’s surface. The system architecture integrates two small processor units; the first performs vehicle control and implements a virtual force obstacle avoidance and docking strategy, with the second performing vision-based target segmentation and tracking. Furthermore, the architecture utilises wireless sensor network technology allowing the vehicle to be observed by, and even integrated within an ad-hoc sensor network. The system performance is demonstrated through real-world experiments.

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ID Code: 81683
Item Type: Conference Paper
Refereed: Yes
Keywords: Autonomous Surface Vehicles, Environmental Monitoring, Vision-based Docking, Multi-robot
ISBN: 9780958758390
Divisions: Current > Schools > School of Electrical Engineering & Computer Science
Current > QUT Faculties and Divisions > Science & Engineering Faculty
Copyright Owner: Copyright 2007 [please consult the authors]
Deposited On: 09 Feb 2015 01:00
Last Modified: 13 Feb 2015 04:02

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