Collision Avoidance for Vessels using a Low-Cost Radar Sensor
نویسندگان
چکیده
Collision avoidance for vessels highly depends on a robust obstacle detection. This is commonly achieved by use of high precision radar sensing. For smaller vessels however, the use of low-cost sensors is typical. The idea of this work is to improve the robustness of collision avoidance by integrating a sensor model together with the collision avoidance algorithm in order to consider the accuracy of the measurements. Furthermore, a target tracking algorithm based on an interacting Multi-Model Filter (IMM) is used for robust obstacle detection.
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