Terminal Underwater Docking of an Autonomous Underwater Vehicle Using One Camera and One Light

This study introduces a vision guidance system for the terminal underwater docking of an autonomous underwater vehicle (AUV) using one camera and one light. The configuration of this docking system, including an overview of the AUV and the docking station, is proposed. A detailed description of the vision guidance system is then provided. Four stages, namely, image acquisition, binarization of the captured images, elimination of noisy luminaries, and estimation of the relative position, constitute the image processing procedure. A tracking control algorithm based on the position of the dock center in the image coordinate obtained through image processing has been proposed. This algorithm can guide the AUV to the docking station without requiring distance information. A pool trial has been conducted at night to validate the proposed algorithm. Experimental results demonstrate the effectiveness of the vision guidance system despite the initial lateral deviation of up to 8 m. This paper ends with an analysis of the advantages and defects of this vision guidance system and proposes future works.

• Record URL:
  https://doi.org/10.4031/MTSJ.50.6.6
• Record URL:
  http://www.ingentaconnect.com/content/mts/mtsj/2016/00000050/00000006/art00010
• Availability:
  • Find a library where document is available. Order URL: http://worldcat.org/oclc/1623789
• Supplemental Notes:
  • Copyright © 2016 Marine Technology Society, Inc.
• Authors:
  • Li, Dejun
  • Zhang, Tao
  • Yang, Canjun
• Publication Date: 2016-11

Language

• English

Media Info

• Media Type: Web
• Features: References;
• Pagination: pp 58-68
• Serial:
  • Marine Technology Society Journal
  • Volume: 50
  • Issue Number: 6
  • Publisher: Marine Technology Society
  • ISSN: 0025-3324
  • Serial URL: http://ingentaconnect.com/content/mts/mtsj

Subject/Index Terms

• TRT Terms: Cameras; Docking; Image processing; Intelligent agents; Submersibles; Underwater vehicles
• Uncontrolled Terms: Unmanned undersea vehicles
• Subject Areas: Data and Information Technology; Marine Transportation; Vehicles and Equipment;

Filing Info

• Accession Number: 01627940
• Record Type: Publication
• Files: TRIS
• Created Date: Feb 28 2017 4:18PM