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

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Abstract

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.

Original languageEnglish
Title of host publicationOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018
PublisherInstitute of Electrical and Electronics Engineers Inc.
ISBN (Electronic)9781538648148
DOIs
Publication statusPublished - Jan 7 2019
EventOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018 - Charleston, United States
Duration: Oct 22 2018Oct 25 2018

Publication series

NameOCEANS 2018 MTS/IEEE Charleston, OCEAN 2018

Conference

ConferenceOCEANS 2018 MTS/IEEE Charleston, OCEANS 2018
CountryUnited States
CityCharleston
Period10/22/1810/25/18

Fingerprint

underwater vehicle
Autonomous underwater vehicles
autonomous underwater vehicle
Stereo vision
deep sea
Lighting
remotely operated vehicle
experiment
estimation method
genetic algorithm
hardware
control system
persistence
Remotely operated vehicles
Experiments
lighting
vehicle
marker
Genetic algorithms
Feedback

Keywords

  • 3D-Mos
  • AUV
  • Dual camera
  • Pose estimation
  • RM-GA

ASJC Scopus subject areas

  • Renewable Energy, Sustainability and the Environment
  • Oceanography

Cite this

Kanda, Y., Myint, M., Mukada, N., Yamada, D., Lwin, K., Matsuno, T., ... Minami, M. (2019). Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018 [8604730] (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/OCEANS.2018.8604730

Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking. / Kanda, Yoshiki; Myint, Myo; Mukada, Naoki; Yamada, Daiki; Lwin, Khin; Matsuno, Takayuki; Toda, Yuichiro; Minami, Mamoru.

OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. 8604730 (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Kanda, Y, Myint, M, Mukada, N, Yamada, D, Lwin, K, Matsuno, T, Toda, Y & Minami, M 2019, Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking. in OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018., 8604730, OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018, Institute of Electrical and Electronics Engineers Inc., OCEANS 2018 MTS/IEEE Charleston, OCEANS 2018, Charleston, United States, 10/22/18. https://doi.org/10.1109/OCEANS.2018.8604730
Kanda Y, Myint M, Mukada N, Yamada D, Lwin K, Matsuno T et al. Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking. In OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc. 2019. 8604730. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018). https://doi.org/10.1109/OCEANS.2018.8604730
Kanda, Yoshiki ; Myint, Myo ; Mukada, Naoki ; Yamada, Daiki ; Lwin, Khin ; Matsuno, Takayuki ; Toda, Yuichiro ; Minami, Mamoru. / Applying Lighting Marker and Stereo-vision to V-shaped-thruster Vehicle for AUV Deep Sea Docking. OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018. Institute of Electrical and Electronics Engineers Inc., 2019. (OCEANS 2018 MTS/IEEE Charleston, OCEAN 2018).
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