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Proceedings Paper

Autonomous river navigation
Author(s): Franklin D. Snyder; Daniel D. Morris; Paul H. Haley; Robert T. Collins; Andrea M. Okerholm
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Paper Abstract

Existing maritime navigation and reconnaissance systems require man-in-the-loop situation awareness for obstacle avoidance, area survey analysis, threat assessment, and mission re-planning. We have developed a boat with fully autonomous navigation, surveillance, and reactive behaviors. Autonomous water navigation is achieved with no prior maps or other data − the water surface, riverbanks obstacles, movers and salient objects are discovered and mapped in real-time using a circular array of cameras along with a self-directed pan-tilt camera. The autonomous boat has been tested on harbor and river domains. Results of the detection, tracking, mapping and navigation will be presented.

Paper Details

Date Published: 29 December 2004
PDF: 12 pages
Proc. SPIE 5609, Mobile Robots XVII, (29 December 2004); doi: 10.1117/12.580579
Show Author Affiliations
Franklin D. Snyder, Northrop Grumman Corp. (United States)
Daniel D. Morris, Northrop Grumman Corp. (United States)
Paul H. Haley, Northrop Grumman Corp. (United States)
Robert T. Collins, Carnegie Mellon Univ. (United States)
Andrea M. Okerholm, Northrop Grumman Corp. (United States)


Published in SPIE Proceedings Vol. 5609:
Mobile Robots XVII
Douglas W. Gage, Editor(s)

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