Omni-Directional Camera and Fuzzy Logic Path Planner for Autonomous Sailboat Navigation

摘要

Abstract. Autonomous surface vehicles are used to explore, measure and ob-serve many kinds of environments which are often complex and arise many chal-lenges. The ASAROME project 1 (Autonomous SAiling Robot for Oceanographic MEasurements) is focused on an autonomous sailboat to make measurements and observations in marine environments for extended periods. This paper describes a fuzzy inference engine which integrates a routing strategy for obstacle avoidance using an omnidirectional camera for obstacle detection system. 1