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Article Navigation >  Journal of Unmanned Undersea Systems  > 2021  >  29(3): 299-307
WANG Xiao-ming, WU Gao-sheng. Relative Position and Attitude Precise Control of Underwater Robot Based on Monocular Vision[J]. Journal of Unmanned Undersea Systems, 2021, 29(3): 299-307. doi: 10.11993/j.issn.2096-3920.2021.03.008
Citation: WANG Xiao-ming, WU Gao-sheng. Relative Position and Attitude Precise Control of Underwater Robot Based on Monocular Vision[J]. Journal of Unmanned Undersea Systems, 2021, 29(3): 299-307. doi: 10.11993/j.issn.2096-3920.2021.03.008
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Relative Position and Attitude Precise Control of Underwater Robot Based on Monocular Vision

doi: 10.11993/j.issn.2096-3920.2021.03.008

  • School of Mechanical Engineering, Tianjin University of Science and Technology, Tianjin 300222, China

  • Received Date: 2020-08-05
  • Rev Recd Date: 2020-10-21
  • Publish Date: 2021-06-30
    Abstract
  • Aiming at the characteristics of underwater robots in actual operation, which they need to be relatively stable relative to specific operation objects and have certain anti-interference abilities, and a method for stability control of underwater robots based on monocular visual position and attitude measurement is proposed; the key technique of this method is to measure the three-dimensional position and attitude of the underwater robot using the method of re-projection. The “GuanHai ROV” is adopted for experimental verification, and the observation target is placed in the experimental pool. The forward camera of the underwater robot is used as a monocular vision sensor to establish an experimental verification system. The experimental results show that the position and attitude measurement principle based on the monocular vision control method of underwater robots can relatively specific objects under constant water flow remain stable, and can meet the needs of the underwater robot in the actual work environment; therefore, the method proposed in this study is effective for the precise control of underwater robot position and attitude. This research has greatly improved the stability of underwater robots in a working environment.

     

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