Experimental validation of an improved underwater sphere-target localisation scheme for an autonomous underwater vehicle manipulator system

In this study, an underwater sphere-target localisation method based on non-parallel binocular vision for an autonomous underwater vehicle manipulator system (AUVMS) is investigated. Existing extraction methods for underwater targets require considerable processing time, such that the real-time requirements for an AUVMS are not satisfied, and the shape features of the targets are not considered. In this study, an underwater target extraction method with reduced processing time is developed based on the known target edge constraint. The experimental results show that the developed method requires less time than the existing target extraction methods and satisfies the real-time requirements. In addition, the localisation precision of existing target localisation methods is relatively low, which leads to a low rate of successful implementation for an AUVMS. To solve this problem, a secondary compensation-based target localisation method is developed. A theoretical analysis is also presented. The experimental results show that the developed target localisation method can effectively improve the localisation accuracy and rate of successful implementation.

• Record URL:
  https://doi.org/10.1504/IJVD.2023.131050
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/issn/14775360
• Supplemental Notes:
  • Copyright © 2023 Inderscience Enterprises Ltd.
• Authors:
  • Zhang, Tianchi
  • Tan, Yong
  • Liu, Xing
  • Chu, Zhenzhong
• Publication Date: 2023

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 67-86
• Serial:
  • International Journal of Vehicle Design
  • Volume: 91
  • Issue Number: 1-3
  • Publisher: Inderscience Enterprises Limited
  • ISSN: 1477-5360
  • Serial URL: http://www.inderscience.com/jhome.php?jcode=IJVD

Subject/Index Terms

• TRT Terms: Control systems; Mobile robots; Tracking systems; Trajectory control; Unmanned underwater vehicles
• Subject Areas: Data and Information Technology; Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01900115
• Record Type: Publication
• Files: TRIS
• Created Date: Nov 20 2023 9:12AM