Experiments on vision guided docking of an autonomous underwater vehicle using one camera |
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Authors: | Jin-Yeong Park Bong-huan Jun Junho Oh |
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Affiliation: | a Humanoid Robot Research Center, KAIST 373-1, Guseong-dong, Yuseong-gu, Daejeon 305-701, Republic of Korea b Ocean Engineering Research Department, MOERI, KORDI 171, Jang-dong, Yuseong-gu 305-343, Republic of Korea |
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Abstract: | This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV. |
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Keywords: | Autonomous underwater vehicle (AUV) Final approach Image processing Underwater docking Vision guidance |
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