Research on Cooperative Perception of MUSVs in Complex Ocean Conditions

Abstract

Since the working environment of Multiple Unmanned Surface Vehicles (MUSVs) is accompanied by a large number of uncertainties and various hazards, in order to ensure the collision avoidance capability of MUSVs in complex marine environments, the perception of complex marine environments by MUSVs is the first problem that needs to be solved. A cooperative perception framework with uncertain event detection, cooperative collision avoidance pattern recognition and environmental ontology model is proposed to realize the cooperative perception process of MUSVs using ontology and Bayesian network theory. The cooperative perception approach was validated by simulating experiments. Results show the effectiveness of cooperative perception approach.

Keywords

• multiple USVs
• cooperative perception
• complex ocean conditions