Visual servoing for underwater docking of an autonomous underwater vehicle with one camera

Lee, Pan-Mook; Jeon, Bong-Hwan; Kim, Sea-Moon

doi:10.1109/oceans.2003.178391

Cited by 20 publications

(2 citation statements)

References 8 publications

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“…However, increase in the matrix L leads to increase in the sensitivity of the estimator to noise. This problem can be solved using nonlinear estimator [8][9][10][11][12]:…”

Section: Development Of Nonlinear Estimatormentioning

confidence: 99%

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Pshikhopov¹,

Medvedev²,

Gurenko³

2015

AMM

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In this paper, authors propose a new method of disturbance estimation that can be used for marine and air vehicles. As stability area for nonlinear systems is connected with performance of estimation, indirect measurement is proposed to estimate the error. The base for calculation is vehicle accelerations provided by navigation system. New algorithms were tested in simulation for which authors developed a block diagram of indirect adaptive control system that features independence of estimator from controller. Analysis of results showed that the error of the developed estimator in transient mode is 30-40% less than error of the linear estimator. In steady state mode, gain of the proposed estimator is equal to gain of the linear estimator and output noise is the same. Simulated system was implemented in mini motor boat, and showed good results in experiment. New estimator allowed to increase the accuracy of moving along the paths.

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“…However, increase in the matrix L leads to increase in the sensitivity of the estimator to noise. This problem can be solved using nonlinear estimator [8][9][10][11][12]:…”

Section: Development Of Nonlinear Estimatormentioning

confidence: 99%

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Pshikhopov¹,

Medvedev²,

Gurenko³

2015

AMM

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show abstract

“…application to submersible vehicles in deep waters by exploiting the information in sea floor images [18]. The light array associated with a single camera was proposed to facilitate the target positioning in an autonomous underwater vehicle (AUV) docking system [19]. Li et al proposed a reliable vision positioning method using two cameras and four green lightemitting diodes (LEDs) fixed around the station [20].…”

Section: Introductionmentioning

confidence: 99%

Distorted Laser Spot Center Positioning Based on Captured Image Under Laser-Camera Misalignment in UOWC

et al. 2023

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The laser spot center positioning is an essential step for camera-based terminal positioning and alignment in a longdistance laser-based underwater optical wireless communication (UOWC) system. In this paper, the laser spot profile distorted by laser-camera misalignment is examined and a principal component analysis (PCA)-based spot center estimation algorithm is proposed. The centroid offset of the distorted laser spot under different deflection angles, transmitted optical powers and camera exposure values is experimentally demonstrated and analyzed. The estimation performance and the impact of the three parameters are also studied. Experimental results show that the proposed PCA-based algorithm significantly outperforms conventional gray centroid-based positioning method under different conditions.

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Schwager

Detweiler

Vasilescu

et al. 2008

Journal of Field Robotics

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Visual servoing for underwater docking of an autonomous underwater vehicle with one camera

Cited by 20 publications

References 8 publications

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Development of Indirect Adaptive Control for Underwater Vehicles Using Nonlinear Estimator of Disturbances

Distorted Laser Spot Center Positioning Based on Captured Image Under Laser-Camera Misalignment in UOWC

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