Dr. Cassandra Newby-Alexander a historian at Norfolk State University has done work on the Underground Railroad that operated out of the Norfolk area. She might be able to assist you with further resources

http://www.visitnorfolktoday.com/site/waterways-to-freedom/

Also the reference librarians at the Norfolk Public Library Sargeant Memorial Room might also be able to assist you.

http://www.npl.lib.va.us/smrt/smr_home.html