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水下航行器视觉控制技术综述

高剑 何耀祯 陈依民 张元旭 杨旭博 李宇丰 张桢驰

高剑, 何耀祯, 陈依民, 等. 水下航行器视觉控制技术综述[J]. 水下无人系统学报, 2024, 32(2): 282-294 doi: 10.11993/j.issn.2096-3920.2023-0061
引用本文: 高剑, 何耀祯, 陈依民, 等. 水下航行器视觉控制技术综述[J]. 水下无人系统学报, 2024, 32(2): 282-294 doi: 10.11993/j.issn.2096-3920.2023-0061
GAO Jian, HE Yaozhen, CHEN Yimin, ZHANG Yuanxu, YANG Xubo, LI Yufeng, ZHANG Zhenchi. Review of Visual Control Technology for Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2024, 32(2): 282-294. doi: 10.11993/j.issn.2096-3920.2023-0061
Citation: GAO Jian, HE Yaozhen, CHEN Yimin, ZHANG Yuanxu, YANG Xubo, LI Yufeng, ZHANG Zhenchi. Review of Visual Control Technology for Undersea Vehicles[J]. Journal of Unmanned Undersea Systems, 2024, 32(2): 282-294. doi: 10.11993/j.issn.2096-3920.2023-0061

水下航行器视觉控制技术综述

doi: 10.11993/j.issn.2096-3920.2023-0061
基金项目: 国家自然科学基金项目资助(51979228, 52102469).
详细信息
    作者简介:

    高剑:高 剑(1979-), 男, 教授, 主要研究方向为水下航行器控制技术

  • 中图分类号: TJ630; U674.941

Review of Visual Control Technology for Undersea Vehicles

  • 摘要: 视觉控制是通过视觉信息进行环境和自身状态感知的一种控制方式, 文中将该技术应用于水下航行器控制, 并对不同应用场景下的相关研究进展、难点与趋势进行分析。首先介绍水下航行器视觉控制技术发展现状与任务场景, 然后对水下图像增强、目标识别与位姿估计技术进行介绍, 并从水下视觉动力定位与目标跟踪、水下航行器对接及水下目标抓取作业等3个任务场景, 对水下航行器视觉控制技术发展现状进行总结和分析, 最后梳理了水下航行器视觉控制技术的难点与发展趋势。

     

  • 图  1  常见的水下航行器

    Figure  1.  Common undersea vehicles

    图  2  视觉与机械臂抓取协调控制试验场景

    Figure  2.  Experimental scenario of coordinated control of vision and manipulator grasping

    图  3  水下图像增强与复原效果对比

    Figure  3.  Comparison of underwater visual image enhancement and restoration effects

    图  4  MODA算法识别结果

    Figure  4.  The recognition results of MODA

    图  5  FORSSEA航行器视觉动力定位过程

    Figure  5.  Visual dynamic positioning of FORSSEA undersea vehicle

    图  6  水下航行器动力定位实验场景

    Figure  6.  Experiment scenario of undersea vehicle dynamic positioning

    图  7  西北工业大学水下航行器动力定位试验场景

    Figure  7.  Dynamic positioning scenario of undersea vehicles at Northwestern Polytechnical University

    图  8  水下航行器对接过程

    Figure  8.  Docking process of undersea vehicle

    图  9  中国科学院沈阳自动化研究所航行器水下对接装置

    Figure  9.  Underwater docking device of Shenyang Institute of Automation Chinese Academy of Sciences

    图  10  西北工业大学水池对接实验场景

    Figure  10.  Experimental scenario of pool docking of North- western Polytechnical University

    图  11  水下航行器水池目标抓取场景

    Figure  11.  Undersea vehicle by target grasping in water pool scene

    图  12  水下目标抓取的机器人视角

    Figure  12.  Robot Perspective of Underwater Target Grasping

    图  13  大连海事大学“海星”号UVMS

    Figure  13.  "Starfish" UVMS of Dalian Maritime University

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  • 收稿日期:  2023-05-19
  • 修回日期:  2023-07-03
  • 录用日期:  2023-08-17
  • 网络出版日期:  2023-12-18

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