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The Design and Implementation of the Vision-based Water Surface Garbage Cleaning Vehicle

Zeyu Jiang, Qing Wang( )
School of Automation, Beijing Institute of Technology, Beijing, P. R. China

This paper was recommended for publication in its revised form by editorial board member, Hongliang Ren.

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Abstract

This paper proposes a water surface garbage cleaning vehicle. Its main functions include the detection, tracking and collection of garbage. The object detection algorithm based on the YOLOv3 network is applied to embedded systems. The sliding mode control is designed to guarantee the stability of the tracking process of the unmanned vehicle. Experiments and comparative simulation results are given to show the effectiveness of the proposed solution.

Keywords

Water surface vehicleobject detectionsliding mode controlembedded robotics system

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Unmanned Systems
Volume 12 Issue 6,
December 2024
Pages 1073-1084
DOI: 10.1142/S2301385024500389

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Cite this article:
Jiang Z, Wang Q. The Design and Implementation of the Vision-based Water Surface Garbage Cleaning Vehicle. Unmanned Systems, 2024, 12(6): 1073-1084. https://doi.org/10.1142/S2301385024500389

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Received: 13 January 2023
Revised: 02 June 2023
Accepted: 04 June 2023
Published: 10 August 2023
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