Design and Testing of an Autonomous Navigation Unmanned Surface Vehicle for Buoy Inspection

• Published in: Journal of marine science and engineering Vol. 12; no. 5; p. 819
• Main Authors: Lu, Zhiqiang, Li, Weihua, Zhang, Xinzheng, Wang, Jianhui, Zhuang, Zihao, Liu, Cheng
• Format: Journal Article
• Language: English
• Published: Basel MDPI AG 01.05.2024
• Subjects: Algorithms; Analysis; Autonomous navigation; buoy inspection; Buoys; Cameras; Communication; Communications systems; Control algorithms; Ground stations; Inspection; Inspections; LOS algorithm; Navigation; Object recognition; Obstacle avoidance; Operating systems; Path tracking; Potential fields; Robot Operating System (ROS); Robotics; Robots; Sensors; Software; Surface vehicles; Target detection; Telecommunications; Tracking; Tracking systems; Unmanned aerial vehicles; unmanned surface vehicle (USV); Unmanned vehicles; Vehicles; YOLOv7
• ISSN: 2077-1312; 2077-1312
• DOI: 10.3390/jmse12050819

In response to the inefficiencies and high costs associated with manual buoy inspection, this paper presents the design and testing of an Autonomous Navigation Unmanned Surface Vehicle (USV) tailored for this purpose. The research is structured into three main components: Firstly, the hardware framework and communication system of the USV are detailed, incorporating the Robot Operating System (ROS) and additional nodes to meet practical requirements. Furthermore, a buoy tracking system utilizing the Kernelized Correlation Filter (KCF) algorithm is introduced. Secondly, buoy image training is conducted using the YOLOv7 object detection algorithm, establishing a robust model for accurate buoy state recognition. Finally, an improved Line-of-Sight (LOS) method for USV path tracking, assuming the presence of an attraction potential field around the inspected buoy, is proposed to enable a comprehensive 360-degree inspection. Experimental testing includes validation of buoy image target tracking and detection, assessment of USV autonomous navigation and obstacle avoidance capabilities, and evaluation of the enhanced LOS path tracking algorithm. The results demonstrate the USV’s efficacy in conducting practical buoy inspection missions. This research contributes insights and advancements to the fields of maritime patrol and routine buoy inspections.