Jaladhi – Autonomous Surface Vehicle with Collision Avoidance
Final project focused on offshore energy exploration with autonomous navigation and collision avoidance following COLREGs.
Jaladhi: Autonomous Surface Vehicle with Collision Avoidance
Overview
Jaladhi is an advanced development of the previous PKM Jalavahana project, focused on enabling autonomous navigation for offshore energy site exploration.
The system is equipped with real-time collision avoidance capabilities following the COLREGs (International Regulations for Preventing Collisions at Sea).
The vehicle integrates computer vision using YOLOv8 optimized with TensorRT for fast object detection and RPLIDAR A2 for distance measurement, enabling autonomous decision-making in dynamic offshore environments.
Contribution
- Designed and implemented an obstacle avoidance system combining deep learning-based visual perception and LiDAR-based proximity detection.
- Developed a multi-sensor fusion strategy to enable safe and rule-compliant navigation.
- Tuned the system to adhere to COLREGs, ensuring realistic maritime behavior.
- Built and tested the entire pipeline on Jetson Nano using ROS Noetic, integrating motor control, sensor data processing, and autonomous decision logic.
- Led the final presentation and system demonstration in the competition.
Results
- Awarded 2nd Place in the Final Project Competition at Politeknik Elektronika Negeri Surabaya (PENS).
- Recognized for innovation and practical implementation in real-world offshore scenarios.
Project Poster
