Experiments on vision guided docking of an autonomous underwater vehicle using one camera

This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CC...

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Veröffentlicht in:Ocean engineering 2009, Vol.36 (1), p.48-61
Hauptverfasser: Park, Jin-Yeong, Jun, Bong-huan, Lee, Pan-mook, Oh, Junho
Format: Artikel
Sprache:eng
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Zusammenfassung:This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV.
ISSN:0029-8018
1873-5258
DOI:10.1016/j.oceaneng.2008.10.001