Research on Terminal Docking of Autonomous Underwater Vehicle Based on Visual Guidance and Rotational Docking Station

doi:10.3901/JME.2018.20.081

Abstract

Abstract: Based on monocular single lamp visual guidance and rotational docking station, the terminal docking of autonomous underwater vehicle is introduced in this study. The principle of terminal docking scheme including different coordinates used in the scheme is described firstly. The experimental platform is composed of autonomous underwater vehicle(AUV), rotational docking station and visual guidance system to verify the terminal guidance scheme. The guidance and control algorithm of this scheme is constituted by visual guidance algorithm, docking control algorithm and rotational control algorithm. Four stages, namely, image acquisition, binarization of the captured images, elimination of noisy luminaries, and estimation of the relative position, constitute the visual guidance algorithm. A pool trial with two different circumstances is conducted to validate the proposed scheme. Some advantages and defects of this terminal docking schemeare introduced and some future works are proposed at last.

Key words: autonomous underwater vehicle, monocular single lamp, rotational docking station, terminal docking, visual guidance

CLC Number:

TP202
P715

ZHANG Tao, LI Dejun, PENG Shilin, XIA Qingchao, YANG Canjun. Research on Terminal Docking of Autonomous Underwater Vehicle Based on Visual Guidance and Rotational Docking Station[J]. Journal of Mechanical Engineering, 2018, 54(20): 81-88.

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