Journal
2020 IEEE INTERNATIONAL SYMPOSIUM ON SAFETY, SECURITY, AND RESCUE ROBOTICS (SSRR 2020)
Volume -, Issue -, Pages 57-64Publisher
IEEE
DOI: 10.1109/ssrr50563.2020.9292632
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Man overboard (MOB) incidents in open sea travel are a risk for the shipping industry. In this work we aim to design an autonomous system in charge of planning and executing a search for a person in water (PIW), victim of MOB. The proposed solution consists of an autonomous UAV that initiates a SAR mission when it receives a MOB signal. The UAV is located in an autonomous docking mechanism onboard the ship. The probabilistic leeway model is implemented to find the location of the PIW and a Deep Learning object detection algorithm (Faster R-CNN) is employed to locate the PIW. To the best of our knowledge, this is the first time that a search system on-board a vessel -capable of live planning and execution- is proposed. Our results indicate that employing our solution would increase the success probability of finding a PIW and decrease the total search time.
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