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

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

22 Citations (Scopus)

Abstract

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.

Original languageEnglish
Title of host publication2015 IEEE/SICE International Symposium on System Integration, SII 2015
PublisherInstitute of Electrical and Electronics Engineers Inc.
Pages989-994
Number of pages6
ISBN (Print)9781467372428
DOIs
Publication statusPublished - Feb 10 2016
Event8th Annual IEEE/SICE International Symposium on System Integration, SII 2015 - Nagoya, Japan
Duration: Dec 11 2015Dec 13 2015

Other

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

ASJC Scopus subject areas

  • Artificial Intelligence
  • Control and Systems Engineering

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  • Cite this

    Myint, M., Yonemori, K., Yanou, A., Minami, M., & Ishiyama, S. (2016). Visual-servo-based autonomous docking system for underwater vehicle using dual-eyes camera 3D-pose tracking. In 2015 IEEE/SICE International Symposium on System Integration, SII 2015 (pp. 989-994). [7405161] Institute of Electrical and Electronics Engineers Inc.. https://doi.org/10.1109/SII.2015.7405161