Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking

Yoshiki Kanda, Myo Myint, Naoki Mukada, Daiki Yamada, Khin Lwin, Takayuki Matsuno, Yuichiro Toda, Mamoru Minami



A stereo-vision-based system of autonomous under-water vehicles (AUVs) for sea-bottom docking that enables for battery recharging to extend persistence time of underwater operation has been developed. This paper presents the docking experiment using a developed V-shaped-thruster typed under-water vehicle. A real-time 3 D pose (position and orientation) estimation method using a real-time multi-step genetic algorithm (RM-GA) has been proposed by the authors in previous works and used for docking based on 3D recognition a s a feedback pose information in real-time, named as 3D Move on Sensing (3D-MoS). Sea docking experiment results have confirmed the functionality and practicality of proposed docking approach using a hovering typed ROV in previous works. Since the hovering typed underwater vehicles are limited in mobilities concerning speed and operational space, verification of the 3D-MoS system using underwater vehicle that has more mobility deem to be meaningful direction for vision-based docking system to expand the utility value of AUVs. Therefore, in this study, control system for a new V-shaped-thruster typed vehicle is developed and docking experiment is conducted. This paper presents the development of the hardware design of V-shaped-thruster typed underwater vehicle and improvement of controlling with consideration of coupled configuration of thrusters.

ホスト出版物のタイトルOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
出版社Institute of Electrical and Electronics Engineers Inc.
出版ステータスPublished - 1月 7 2019
イベントOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston
継続期間: 10月 22 201810月 25 2018


名前OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018


ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
国/地域United States

ASJC Scopus subject areas

  • 再生可能エネルギー、持続可能性、環境
  • 海洋学


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