TY - GEN
T1 - Image-based visual servoing for docking of an autonomous underwater vehicle
AU - Yahya, M. F.
AU - Arshad, M. R.
N1 - Publisher Copyright:
© 2017 IEEE.
PY - 2017/7/2
Y1 - 2017/7/2
N2 - An autonomous underwater vehicle (AUV) depends on the embedded battery inside its system as a sole source of energy. It cannot prolong its operation due to the limited capacity of the battery. To overcome this limitation, a docking station may be utilized so that the AUV can dock inside the station and recharges its battery. There are few researches conducted on the docking of AUV using vision. Research which relies on the pose of the docking station to guide the AUV during docking operation may experience difficulties if the target is lost from the camera view. The AUV cannot determine the docking station pose if there are missing features. In this paper, an image based visual servoing method is proposed for the AUV to dock inside a docking station by relying on 5 target features. Simulation result shows that the AUV is capable to dock successfully inside the station by employing the proposed method.
AB - An autonomous underwater vehicle (AUV) depends on the embedded battery inside its system as a sole source of energy. It cannot prolong its operation due to the limited capacity of the battery. To overcome this limitation, a docking station may be utilized so that the AUV can dock inside the station and recharges its battery. There are few researches conducted on the docking of AUV using vision. Research which relies on the pose of the docking station to guide the AUV during docking operation may experience difficulties if the target is lost from the camera view. The AUV cannot determine the docking station pose if there are missing features. In this paper, an image based visual servoing method is proposed for the AUV to dock inside a docking station by relying on 5 target features. Simulation result shows that the AUV is capable to dock successfully inside the station by employing the proposed method.
KW - autonomous underwater vehicle
KW - image based visual servoing
KW - underwater docking
UR - http://www.scopus.com/inward/record.url?scp=85050588471&partnerID=8YFLogxK
U2 - 10.1109/USYS.2017.8309453
DO - 10.1109/USYS.2017.8309453
M3 - Conference Proceeding
AN - SCOPUS:85050588471
T3 - 2017 IEEE 7th International Conference on Underwater System Technology: Theory and Applications, USYS 2017
SP - 1
EP - 6
BT - 2017 IEEE 7th International Conference on Underwater System Technology
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 7th IEEE International Conference on Underwater System Technology: Theory and Applications, USYS 2017
Y2 - 18 December 2017 through 20 December 2017
ER -