Browse > Article

A Visual Servo Algorithm for Underwater Docking of an Autonomous Underwater Vehicle (AUV)  

이판묵 (한국해양연구원 해양시스템안전연구소 해양개발시스템연구본부)
전봉환 (한국해양연구원 해양시스템안전연구소 해양개발시스템연구본부)
이종무 (한국해양연구원 해양시스템안전연구소 해양개발시스템연구본부)
Publication Information
Journal of Ocean Engineering and Technology / v.17, no.1, 2003 , pp. 1-7 More about this Journal
Abstract
Autonomous underwater vehicles (AUVs) are unmanned, underwater vessels that are used to investigate sea environments in the study of oceanography. Docking systems are required to increase the capability of the AUVs, to recharge the batteries, and to transmit data in real time for specific underwater works, such as repented jobs at sea bed. This paper presents a visual :em control system used to dock an AUV into an underwater station. A camera mounted at the now center of the AUV is used to guide the AUV into dock. To create the visual servo control system, this paper derives an optical flow model of a camera, where the projected motions of the image plane are described with the rotational and translational velocities of the AUV. This paper combines the optical flow equation of the camera with the AUVs equation of motion, and deriver a state equation for the visual servo AUV. Further, this paper proposes a discrete-time MIMO controller, minimizing a cost function. The control inputs of the AUV are automatically generated with the projected target position on the CCD plane of the camera and with the AUVs motion. To demonstrate the effectiveness of the modeling and the control law of the visual servo AUV simulations on docking the AUV to a target station are performed with the 6-dof nonlinear equations of REMUS AUV and a CCD camera.
Keywords
Visual Servoing; AUV(Autonomous Underwater Vehicle); Underwater Docking; Optimal Control; Optical Flow Equation;
Citations & Related Records
Times Cited By KSCI : 2  (Citation Analysis)
연도 인용수 순위
1 Application of 2 1/2 D visual servoing to underwater vehicle station-keeping /
[ Lots, J.-F.;Lane, D.M.;Trucco, E. ] / Proc. Oceans 2000 MTS/IEEE
2 Docking for an autonomous ocean sampling network /
[ Singh, H.;Bellingham, J.G.;Hover, F.;Lerner, S.;Moran, B.A.;von der Heydt, K.;Yoerger, D. ] / IEEE J. of Oceanic Eng.   DOI   ScienceOn
3 Results from mechanical docking tests of a Morpheus class AUV with a dock designed for an OEX class AUV /
[ Lambiotte, J. C.;Coulson, R.;Smith, S. M.;An, E. ] / Proc. Oceans 2002
4 /
[ Goodwin, G.C.;Sin, K.S. ] / Adaptive Filtering, Prediction and Control
5 A tutorial on visual servo control /
[ Hutchinson, S.;Hager, G.D.;Corke, P.I. ] / IEEE Trans. Robot. Automat.   DOI   ScienceOn
6 Autonomous underwater vehicle homing/docking via electro-magnetic guidance /
[ Feezor, M.;Blankinship, P.;Bellingham, J.;Sorrel, Y. ] / Proc. Oceans '97 MIS/IEEE
7 Enabling technologies for REMUS docking;An integral component of an autonomous ocean-sampling network /
[ Stokey, R.;Allen, B.;Austin, T.;Goldsborough, R.;Forrester, N.;Purcell, M.;von Alt, C. ] / IEEE J. of Oceanic Eng.   DOI   ScienceOn
8 장주기 샘플링을 갖는 자율무인잠수정의 의사 슬라이딩모드 제어 /
[ 이판묵;전봉환;홍석원 ] / 한국해양공학회지   과학기술학회마을
9 차세대 심해용 무인잠수정 개발 /
[ 이판묵;양승일;홍석원(외) ] / 한국해양연구원 연구보고서 UCM0250-2368
10 Underwater docking of autonomous undersea vehicles using optical terminal guidance /
[ Cowen, S.;Briest, S.;Dombrowski, J. ] / Proc. Oceans'97
11 AUV의 수중 호밍·도킹 매카니즘에 대한 연구 /
[ 전봉환;이판묵;이종무 ] / 한국해양공학회 2002년 춘계학술대회논문집(별쇄본)
12 Verification of a six-degree of freedom simulation model for the REMUS autonomous underwater vehicle /
[ Prestero, T. ] / Masters Thesis, Dept. of Ocean Eng. and Mech. Eng., MIT
13 비쥬얼 서보 제어기를 이용한 자율무인잠수정의 도킹 /
[ 이판묵;전봉환;이종무 ] / 한국해양공학회 2002년 추계 학술대회 논문집
14 거리측정이 가능한 단동형 수중 스테레오 카메라의 제어 /
[ 이판묵;전봉환;이종무 ] / 한국해양공학회지   과학기술학회마을
15 Eye-in-hand tasks in uncalibrated environments /
[ Smith, C.E.;Brandt, S.A.;Papanikolopoulos, N.P. ] / IEEE Tr. Robot. Automat.   DOI   ScienceOn
16 Six degree-of -freedom hand/eye visual tracking with uncertain parameters /
[ Papanikolopoulos, N.P.;Nelson, B.J.;Khosla, P.K. ] / IEEE Trans. Robot. Automat   DOI   ScienceOn
17 AUV의 운동 계측을 위한 스트랩다운형 관성계측장치(IMU)의 개발 /
[ 이판묵;전봉환;이종식;오준호;김도현 ] / 한국해양공학회지   과학기술학회마을
18 이산 가변구조제어기를 이용한 자율무인잠수정의 심도제어 /
[ 이판묵;홍석원;전봉환 ] / 한국해양공학회지   과학기술학회마을
19 Cue integration for visual servoing /
[ Kragic D.;Christensen, H. I. ] / IEEE Trans. Robot. Automat.   DOI   ScienceOn
20 Adaptive robotic visual tracking;Theory and Experiments /
[ Papanikolopoulos, N.P.;Khosla, P.K. ] / IEEE Trans. Automatic Control   DOI   ScienceOn