Perimeter Patrol On Autonomous Surface Vehicles Using Marine Radar

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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 radar image 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.


© 2010 IEEE. This article was published in the proceedings of Oceans 2010, Sydney, p 1-5, and can be found here.