Doğuş-USV unmanned sea vehicle: obstacle localization with stereo vision and path planning

Abstract

Unmanned vehicle systems are becoming increasingly prevalent on the land, in the sea, and in the air. Navigation and path planning in an unknown environment are important tasks for future generation. The objective of this work is to design an unmanned sea vehicle and necessary software that can perform path planning autonomously with using stereo vision. In this paper using potential field algorithm, collision free path is achieved from a starting point to a terminal point.