Vision and 2D LiDAR based autonomous surface vehicle docking for identify symbols and dock task in 2016 Maritime RobotX Challenge

摘要

This paper reports a research for vision and 2D Lidar based autonomous docking for autonomous surface vehicle. The work is related to one of the tasks in 2016 Maritime RobotX Challenge. Docking bays are located by using Lidar scanning data and symbols are identified by template matching and comparing Euclidean distance in HSV color space. Before proceeding to the bay, lateral position alignment is carried out to reduce collision risk. The algorithm is validated through real scale experiment.