基于视线导航的自主水下航行器编队轨迹控制(英文)-豆柴文库

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基于视线导航的自主水下航行器编队轨迹控制(英文)
Abstract:
Underwaterautonomousnavigationishighlyanticipatedinvariousfields,suchasoceanexploration,pipelineinspection,andmilitarysurveillance.Inthispaper,weproposeavisualnavigationsystemthatutilizesimageprocessingandcontrolstrategiestoenableafleetofunderwaterautonomousvesselstonavigatethroughunknownoceanenvironments.Thesystemfacilitatesfleetmaneuveringtocarryoutunderwatertasksviaaformationcontrolalgorithm.
Introduction:
Watercoversabout71%oftheearth'ssurface,andunderwaterexplorationhasbecomeincreasinglyimportant.However,directhumaninterventioninunderwatertasksischallengingduetothewater'shighpressureandflow,limitinghumanaccess.Thisobstaclecanbesolvedusingunderwaterautonomousvesselsthatcannavigatewithouthumanintervention.
Inthispaper,wepresentanewunderwaternavigationsystem,whichusesimageprocessingandcontrolstrategiestonavigateinanunknownunderwaterenvironmentandmaintainaformationcontrolalgorithm.Thesystememployscomputervisiontechniquestoextractvisualinformationfromtheenvironmenttoaccomplishanoptimaltrajectoryforthevessels.
Methods:
Theproposedsystemconsistsoffourmainmodules:acamera,animageprocessingmodule,amotioncontrolmodule,andaformationcontrolmodule.Thecameraactsastheinputsensor,gatheringvisualinformationfromtheenvironment.Theimageprocessingmoduleprocessesthedataprovidedbythecameratoextractpertinentfeaturesandrecognizelandmarks.Themotioncontrolmoduleusesthedatafromtheimageprocessingmoduletocreateasuitablepathforthevessels.Finally,theformationcontrolmoduletrackseachvessel'spositiontomaintaintheformation'sdesiredconfiguration.
Results:
Weusedsimulationstotesttheproposedsystem'sperformance,andtheresultswerepromising.Thesystem'srobustnessandaccuracyarealsosatisfactory,indicatingitseffectivenessincontrollingafleetofunderwaterautonomousvehicles.Wealsoconductedanexperimentinafishtankthatverifiedthesystem'sutilityinnavigatingandcontrollinganunderwaternavigationsystem.
Conclusion:
Inthispaper,weproposedavisualnavigationsystemthatusesimageprocessingand