摘要
无人船航行过程中的环境信息感知是实现无人船运动控制和后续开展作业的前提条件,其感知精度和效率直接影响后续作业质量。本文首先梳理了国内外在无人船环境感知领域的研究和应用成果;其次对无人船环境信息感知的方法进行综述,重点介绍了基于视觉和雷达的环境感知技术,分析了不同传感器面临的技术细节及解决方法;最后对视觉和雷达在不同应用场景下的环境信息感知优缺点进行总结,并对无人船未来的发展前景进行展望。
The environmental information perception during the navigation of an Unmanned Surface Vehicle(USV)is a precondition for realizing motion control and subsequent operations of USV.In addition,the perception accuracy and efficiency will directly affect the quality of subsequent operations.Firstly,this paper summarizes the research and application achievements in the field of USV environment perception at home and abroad;secondly,it overviews the methods of USV environment information perception,focuses on the environment perception technology based on vision and radar,and analyzes the technical details and solutions faced by different sensors;finally,this paper summarizes both advantages and disadvantages of environmental information perception regarding of vision and radar under different application scenarios and expects the future development prospects of USV.
作者
段鹏飞
李元昊
郭绍义
任继亭
王士鹏
DUAN Peng-fei;LI Yuan-hao;GUO Shao-yi;REN Ji-ting;WANG Shi-peng(ShanDong JiaoTong University,Weihai 264200,China)
出处
《浙江交通职业技术学院学报》
CAS
2021年第4期33-36,41,共5页
Journal of Zhejiang Institute of Communications
关键词
环境感知
视觉感知
雷达感知
目标识别
无人船
environmental perception
visual perception
radar sensing
target recognition
unmanned surface vehicle
