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

被引：0
作者：
Wu, Kai [1 ]
Chen, Zhen [1 ]
Zhou, Lin [1 ]
Li, Ming [1 ]
机构：
[1] Ocean Univ China, Coll Engn, Qingdao, Peoples R China
来源：
2019 CHINESE AUTOMATION CONGRESS (CAC2019) | 2019年
基金：
中国国家自然科学基金;
关键词：
unmanned sailboats; obstacle detection; autonomous obstacle avoidance; millimeter wave radar;
D O I：
10.1109/cac48633.2019.8997304
中图分类号：
TP [自动化技术、计算机技术];
学科分类号：
0812 ;
摘要：
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.
引用
收藏
页码：2588 / 2593
页数：6
相关论文
共 22 条
  • [1] Abiyev RH, 2017, IEEE INT C CYBERNET, P29
  • [2] Fuzzy control of a sailboat
    Abril, J
    Salom, J
    Calvo, O
    [J]. INTERNATIONAL JOURNAL OF APPROXIMATE REASONING, 1997, 16 (3-4) : 359 - 375
  • [3] [Anonymous], 2010, INT ROB SAIL C
  • [4] Austrian A., 2012, FUEL CELLS B
  • [5] Chen HT, 2013, IEEE INT CONF MULTI
  • [6] Chunmei M., 2016, OBSTACLES DETECTION
  • [7] Dominguez-Brito A., 2016, Robotic Sailing 2015, P3
  • [8] Duan JM, 2015, CHIN CONTR CONF, P8003, DOI 10.1109/ChiCC.2015.7260912
  • [9] [靳标 Jin Biao], 2014, [西安交通大学学报, Journal of Xi'an Jiaotong University], V48, P35
  • [10] Leloup R., 2011, ROBOTIC SAILING, P55, DOI [10.1007/978-3-642-22836-0_4, DOI 10.1007/978-3-642-22836-0_4]
123