1. Sanya Science and Education Innovation Park of Wuhan University of Technology, Wuhan University of Technology, Sanya 572000, Hainan; State Key Laboratory of Maritime Technology and Safety, Intelligent Transportation Systems Research Center, Wuhan University of Technology , Wuhan 430063, Hubei; National Engineering Research Center for Water Transport Safety, Wuhan University of Technology, Wuhan 430063, Hubei; Intelligent Transportation Systems Research Center, Wuhan University of Technology, Wuhan 430063, Hubei
2. State Key Laboratory of Maritime Technology and Safety, Intelligent Transportation Systems Research Center, Wuhan University of Technology , Wuhan 430063, Hubei
3. School of Mathematics and Computer Science, Wuhan Polytechnic University , Wuhan 430023, Hubei ; , Wuhan 430063, Hubei
4. State Key Laboratory of Maritime Technology and Safety, Wuhan University of Technology , Wuhan 430023, Hubei ; , Wuhan 430063, Hubei
5. School of Navigation, Wuhan University of Technology , Wuhan 430063, Hubei
6. Robot PLus Company , Hefei, Anhui 230000, China