Thesis (Ph.D.) - Cairo University - National Institute of Laser Enhanced Sciences - Department of Laser Sciences and Interaction

Development of a laser scanning and processing system which is both robust and capable of maintaining obstacle avoidance logic for sea unmanned surface vehicles. So web design of data fusion architectures and propose an architecture that combines most of the advantages of previously published architectures, so we design and implementation of a multisensory data fusion algorithm for laser, radar, lidar, laser range finder and sonar sensors also we use the normal navigation sensors as encompassing commercial global positioning system (GPS) and gyro in a common container and the application of multisensor data fusion theory to integrate the GPS and gyro signals. To build a robust obstacle avoidance system. The data resources are the GPS, the gyro, the automatic identification system (AIS) contacts, the received automated radar plotting aid (ARPA) contacts, and the digital nautical charts (DNC) which is built for this purpose. And analysis and testing of the proposed system against simulation data collected from realistic scenarios

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