サイス ジェイシムシ Dual-Eye Vision-Based Docking Experiment in the Sea for Battery Recharging Application

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Author(s)

    • NWE LWIN Khin
    • Department of Intelligent Mechanical System, Okayama University
    • MYINT Myo
    • Department of Intelligent Mechanical System, Okayama University
    • YONEMORI Kenta
    • Department of Intelligent Mechanical System, Okayama University
    • MUKADA Naoki
    • Department of Intelligent Mechanical System, Okayama University
    • KANDA Yoshiki
    • Department of Intelligent Mechanical System, Okayama University
    • YANOU Akira
    • Faculty of Health Science and Technology, Kawasaki University of Medical Welfare
    • MINAMI Mamoru
    • Department of Intelligent Mechanical System, Okayama University

Abstract

<p>This paper presents a stereo-vision-based approach for sea-bottom docking of autonomous underwater vehicles (AUVs) for battery recharging. According to the intended application, a unidirectional docking station was designed in which the AUV has to dock from a specific direction. Real-time relative pose (position and orientation) estimation was implemented utilizing three-dimensional model-based matching to the actual target and a real-time multi-step genetic algorithm. Using the proposed approach, we conducted the experiments in which an AUV docked to a simulated underwater battery recharging station in the sea near Wakayama City, Japan. The experimental results confirmed the functionality and potential of the proposed approach for sea-bottom docking of AUVs. Although similar sea trials were reported previously, detailed discussions and performance analyses were not presented, especially regarding the relations among pose estimation, output control voltage, and photographic records. The analyses confirmed that the successful docking was realized and that the method has tolerance against turbulence applied to a remotely operated vehicle near the docking station.</p>

Journal

  • SICE Journal of Control, Measurement, and System Integration

    SICE Journal of Control, Measurement, and System Integration 12(2), 47-55, 2019

    The Society of Instrument and Control Engineers

Codes

  • NII Article ID (NAID)
    130007628069
  • Text Lang
    ENG
  • ISSN
    1882-4889
  • Data Source
    J-STAGE 
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