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.
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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|Item Type:||Conference Paper|
|Keywords:||Autonomous Surface Vehicles, Environmental Monitoring, Vision-based Docking, Multi-robot|
|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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