A Research on Rapid Reconstruction of Water Environment for USV

摘要

The autonomous of Unmanned Surface Vessel strongly relies on accurate water surface map. A reasonable reconstruction leads to efficiency obstacle avoidance and path planning. We propose an improved water surface map reconstruction method for USVs. This method precisely recovers the obstacle projection exterior from LIDAR in complex environments such as the harbor area. Furthermore, we realize a more efficient path planning based on this reconstruction. We test our method on simulation and realworld data set. The result shows that the method we proposed is more accurate for environment reconstruction and improves the performance of path planning.