Visual-servo-based autonomous docking system for underwater vehicle using dual-eyes camera 3D-pose tracking

Myo Myint, Kenta Yonemori, Akira Yanou, Mamoru Minami, Shintaro Ishiyama

研究成果

27 被引用数 (Scopus)

抄録

A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative pose (position and posture) through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing, (2) The proposed system can track time-variant desired target position in z-axis (front-back direction of the robot), (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target pose to the controller as a desired pose.

本文言語English
ホスト出版物のタイトル2015 IEEE/SICE International Symposium on System Integration, SII 2015
出版社Institute of Electrical and Electronics Engineers Inc.
ページ989-994
ページ数6
ISBN(印刷版)9781467372428
DOI
出版ステータスPublished - 2月 10 2016
イベント8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya
継続期間: 12月 11 201512月 13 2015

Other

Other8th Annual IEEE/SICE International Symposium on System Integration, SII 2015
国/地域Japan
CityNagoya
Period12/11/1512/13/15

ASJC Scopus subject areas

  • 人工知能
  • 制御およびシステム工学

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