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Asv_ obstacles detection and avoidance

Asv_ obstacles detection and avoidance / Ong Nai Fook
Keadaan di laut terbuka adalah tidak menentu seperti keadaan cuaca yang tiba-tiba menjadi rebut, taufan dan sebagainya. Ini boleh menyebabkan kehilangan banyak nyawa terutamanya mereka yang terlibat dan bekerja di tempat tempat begitu. Keadaan ini boleh diatasi dengan pengunaan ASV. Kenderaan autonomi (ASV) merujuk kepada kenderaan yang boleh beroperasi tanpa pengantungan kepada manusia boleh membantu dan menjalankan tugas seperti rondaan di sekitar laut dan mengesan kedalaman laut. Walau bagaimanapun, ASV pintar mesti dilengkapi dengan pengesanan halangan dan sistem pengelakan yang kukuh. Kajian ini melibatkan pembangunan pengesanan objek dan pengelakan halangan untuk ASV dengan menggunakan pemprosesan imej. Proses itu melibatkan pengawalan kamera, pengekstrakan latar belakang, warna penukaran ruang, pengekstrakan imej, pemilihan parameter imej, penduaan, melukis kontur dan penentuan arah untuk menghasilkan pengesanan halangan dan sistem pengelakan dengan ketepatan yang tinggi. Selain itu, saiz ambang halangan telah ditetapkan untuk menapis bunyi yang tidak diingini supaya sistem boleh berfungsi dengan lebih baik. Sistem yang dibina ini dapat mengesan sempadan kolam renang dan kebanyakan halangan. _______________________________________________________________________________________________________ There are a lot of unforeseen circumstances out in the sea such as rainstorm, unstable weather condition and pitching among others. These kinds of conditions cause a lot of loss of lives especially for personnel who work around the sea. Autonomous surface vehicle (ASV) refers to the vehicle which is able to operate without human operation. With ASV, dangerous tasks such as patrolling around the sea and detecting sea depth can be done, relieving humans from undertaking the jobs themselves. However, an intelligent ASV must be equipped with a strong obstacle detection and avoidance system. This study involves in the development of the obstacle detection and avoidance of the ASV by using image processing. The process involves camera initialization, background extraction, colour space conversion, hue plane extraction, hue plane parameter selection, binarization, drawing contours and direction determination in order to produce an obstacle detection and avoidance system with high accuracy. Besides, a certain threshold size of obstacles is set in order to filter out the unwanted noise so that the system can perform better. Generally, the system is able to detect the swimming pool boundary and most of the obstacles.
Contributor(s):
Ong Nai Fook - Author
Primary Item Type:
Final Year Project
Identifiers:
Accession Number : 875004781
Barcode : 00003096401
Language:
English
Subject Keywords:
unforeseen circumstances; ASV; obstacle
First presented to the public:
6/1/2012
Original Publication Date:
3/15/2018
Previously Published By:
Universiti Sains Malaysia
Place Of Publication:
School of Electrical & Electronic Engineering
Citation:
Extents:
Number of Pages - 60
License Grantor / Date Granted:
  / ( View License )
Date Deposited
2018-03-15 10:27:24.899
Date Last Updated
2019-01-07 11:24:32.9118
Submitter:
Mohd Jasnizam Mohd Salleh

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Asv_ obstacles detection and avoidance1 2018-03-15 10:27:24.899