Print Email Facebook Twitter Integrated computer vision for autonomous marine operations Title Integrated computer vision for autonomous marine operations Author Jacobsen, Niels (TU Delft Mechanical, Maritime and Materials Engineering) Contributor Visser, K. (mentor) Godjevac, M. (mentor) Degree granting institution Delft University of Technology Programme Marine Technology | Ship Design, Production and Operations Date 2017-08-31 Abstract In this graduation thesis the feasibility of a camera as sensor for nautical operations is investigated. Inaerospace and automotive industries autonomous vehicles are already widely tested and used. Howeverthe marine industry has fallen behind in this development. Therefore this research is focussing onautomation in the maritime sector. First a system was developed which measures distance and headingfrom a video feed. Thereafter simulink models were made to develop a system that autonomously canperform nautical operations. For this research multiple operations have been modeled. First of allthe platform approach and the replenishment approach. In these operations the system should be ableto approach a stationary or moving target. Also station keeping after the approach is required. Thecomplexity of the operations was increased with the choice for follow the leader from the maneuveringoperations. Finally the avoidance of upcoming collisions was modeled. The models for all of theseoperations were rst developed and tested with an oine model. This enabled a quick and accuratecontroller tuning. The rst real test for these models was done in a ship handling simulator. Here themodels were tested and the inuence of environmental conditions was measured. In the simulator allmodels performed quite well. However the performance is largely limited by the choice for the cameraand environmental conditions. The most interfering conditions are lateral incoming waves, fog and light.Models for small scale testing were developed, but the communication between dierent components andthe control system proved to be a large issue. Therefore these models could not be tested. All in allthis research shows that after improving system component, a camera system can very well be used as asensor for autonomous operations at sea. Subject Automated vehiclesAutomated Sailing To reference this document use: http://resolver.tudelft.nl/uuid:ab0aaf98-6c44-497f-8f5c-d5af56847716 Part of collection Student theses Document type master thesis Rights © 2017 Niels Jacobsen Files PDF Thesis_v3.1_Final_.pdf 10.19 MB Close viewer /islandora/object/uuid:ab0aaf98-6c44-497f-8f5c-d5af56847716/datastream/OBJ/view