A Two-stage Automatic Latching System for The USVs Charging in Disturbed Berth
Kaiwen Xue,Chongfeng Liu,Hengli Liu,Ruoyu Xu,Zhenglong Sun,Tin Lun Lam,Huihuan Qian,Kaiwen Xue,Chongfeng Liu,Hengli Liu,Ruoyu Xu,Zhenglong Sun,Tin Lun Lam,Huihuan Qian
Automatic latching for charging in a disturbed environment for Unmanned Surface Vehicle (USVs) is always a challenging problem. In this paper, we propose a two-stage automatic latching system for USVs charging in berth. In Stage I, a vision-guided algorithm is developed to calculate an optimal latching position for charging. In Stage II, a novel latching mechanism is designed to compensate the mov...
