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Article
Perimeter Patrol on Autonomous Surface Vehicles Using Marine Radar
2010
  • Elena Oleynikova, Franklin W. Olin College of Engineering
  • Nicole B. Lee, Franklin W. Olin College of Engineering
  • Andrew J. Barry, Franklin W. Olin College of Engineering
  • Joseph Holler, Franklin W. Olin College of Engineering
  • David Barrett, Franklin W. Olin College of Engineering
Document Type
Conference Proceeding
Publication Date
5-1-2010
Abstract
Perimeter patrol enhances the utility of autonomous surface vehicles (ASVs) by enabling many security and scientific missions, including harbor protection, water sampling, and geological survey. We present a novel approach to perimeter patrol that uses only two sensors: commercial off-the-shelf available marine radar and the heading information from a GPS. Our algorithm performs computer vision morphological operations on the radarimage to find a suitable path around shore and choose an appropriate next waypoint. Our method has proved robust to a variety of field conditions, allowing us to demonstrate the autonomous navigation of a 3.5 km perimeter lake.
Comments

© 2010 IEEE. This article was published in OCEANS 2010 IEEE - Sydney, pp. 1-5 and may be found here.

Citation Information
Elena Oleynikova, Nicole B. Lee, Andrew J. Barry, Joseph Holler, et al.. "Perimeter Patrol on Autonomous Surface Vehicles Using Marine Radar" (2010)
Available at: http://works.bepress.com/david_barrett/5/