Research on Obstacle Detection and Tracking Method of Unmanned Sailboat Based on Millimeter Wave Radar

Unmanned sailboats provide a new observation platform for marine environment monitoring. Obstacle detection and tracking is the basis for the independent navigation of unmanned sailboats. Based on the comparison of common obstacle tracking sensors, this paper focuses on the detection and tracking method of unmanned sailing obstacles based on millimeter wave radar. This method can identify obstacles in the detection area and track them. Tracking can provide a basis for autonomous obstacle avoidance planning. The millimeter wave radar detection system is constructed and experiments are carried out. The results show that the method has high recognition accuracy and good tracking effect, which can provide basic information for unmanned sailing obstacle avoidance path planning.