期刊
OCEAN ENGINEERING
卷 36, 期 1, 页码 48-61出版社
PERGAMON-ELSEVIER SCIENCE LTD
DOI: 10.1016/j.oceaneng.2008.10.001
关键词
Autonomous underwater vehicle (AUV); Final approach; Image processing; Underwater docking; Vision guidance
资金
- Ministry of Marine Affairs and Fisheries (MOMAF) of Korea
- KORDI
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. (C) 2008 Elsevier Ltd. All rights reserved.
作者
我是这篇论文的作者
点击您的名字以认领此论文并将其添加到您的个人资料中。
推荐
暂无数据