ISSN 0914-4935
Sensors and Materials
is an international peer-reviewed open access journal to provide a forum for researchers working in multidisciplinary fields of sensing technology.
Sensors and Materials
is covered by Science Citation Index Expanded (Clarivate Analytics), Scopus (Elsevier), and other databases.

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Path Planning for Unmanned Surface Vessels with Multisensor Fusion Design

Yung Hsiang Chen, Yung Yue Chen, and Joe Ming Yang

(Received October 15, 2018; Accepted January 8, 2019)

Keywords: path planning, aerial photography, image resolution, quadrotor, real-time image

To achieve a successful sea voyage, an effective path planning algorithm plays an important role in the autonomous surface vessel design for the purpose of avoiding vessel collisions. This algorithm depends on real-time global images of the explored environments. Currently, satellite images used for the path planning algorithm always have rough resolutions, which increases the risk of vessel collision. To solve this problem, an alternative solution of integrating the aerial images captured by the image sensor of a flying quadrotor and the GPS, electrical compass, and height sensor data is proposed for providing real-time images in the global coordinate instead of satellite images. Naturally, aerial images possess higher resolution pixels than the satellite images and allow real-time modifications of geographic information. Images captured by the image sensor installed on the quadrotor are essentially represented in local coordinates; hence in this investigation, a coordinate transformation for converting the local coordinate of the aerial images into the global coordinate is developed and named the distance-resolution transformation. With the fusion of these sensors and designs, the global coordinate of the high resolution image can calculated directly, and the real-time path planning using this aerial image can be applied to plan a collision-free path to navigate the unmanned surface vessel in any unknown ocean environment.

Corresponding author: Yung Yue Chen



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