水上での物体認識および認識結果を考慮した航路生成

In the case of automatic navigation in an offshore area, as the target area is wide and the navigation environment is sparse with few obstacles, highly accurate route-tracking is not generally required. On the other hand, when automatic navigation is performed in a relatively restricted area, such as a harbor, the target area has a dense environment with many obstacles such as other vessels and buoys, which requires highly accurate route tracking. In addition, the system must navigate a course that can maintain appropriate distances from obstacles in preparation for unexpected external forces such as wind. In this paper, we propose a method to generate an appropriate navigation route to satisfy different requirements of two chart types, namely charts for automatic navigation in offshore areas that are defined as sparse wide-area maps and those for automatic berthing and unberthing that are defined as dense narrow-area maps. The proposed method was then applied to the actual environment to verify its usefulness, and then automatic navigation was performed using a generated route.