The development of dynamic positioning (DP) algorithms for an unmanned surface vehicle (USV) is attracting great interest, especially in support of complex missions such as sea rescue. In order to improve the simplicity of the algorithm, a DP algorithm based on its own path following control ability is proposed. The algorithm divides the DP problem into two parts: path generation and path following. The key contribution is tha...

The development of intelligent task allocation and path planning algorithms for unmanned surface vehicles (USVs) is gaining significant interest, particularly in supporting complex ocean operations. This paper proposes an intelligent hybrid algorithm that combines task allocation and path planning to improve mission efficiency. The algorithm introduces a novel approach based on a self-attention mechanism (SAM) for intelligent...

The radar-photoelectric system is a perception system to detect the surrounding environment based on marine radar and a photoelectric device. Mast obscuration, green water, and multi-object scenes are special scenes that appear in the first-frame image during the navigation of unmanned surface vehicles. The perception system cannot accurately obtain the object information in mast obscuration and green water scenes. The radar-g...

Unmanned surface vehicles frequently encounter foggy weather when performing surface object tracking tasks, resulting in low optical image quality and object recognition accuracy. Traditional defogging algorithms are time consuming and do not meet real-time requirements. In addition, there are problems with oversaturated colors, low brightness, and overexposed areas in the sky. In order to solve the problems mentioned above, t...

Infrared and visible image fusion is a very effective way to solve the degradation of sea images for unmanned surface vessels (USVs). Fused images with more clarity and information are useful for the visual system of USVs, especially in harsh marine environments. In this work, three novel fusion strategies based on adaptive weight, cross bilateral filtering, and guided filtering are proposed to fuse the feature maps that are e...