RETRACTED: An autonomous underwater vehicle docking system based on optical guidance

Tang, Jianzhong; Yu, Youfang; Nie, Yong

doi:10.1016/j.oceaneng.2015.06.001

Cited by 8 publications

(3 citation statements)

References 17 publications

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“…Therefore, markers from the image needs to be sorted so that it can be compared properly with desired image as required in visual servoing. The sorted order for 5 markers is as follow Order 1: y 0 < min (y 1 ,y 2 ,y 3 ,y 4 ) && x 0 > max (x 1 ,x 3 ) && x 0 < min (x 2 ,x 4 ) Order 2: x 1 < min (x 0 ,x 3 ,x 4 ) && y 1 > y 0 && y 1 < min (y 3 ,y 4 ) Order 3: x 2 > max (x 0 ,x 1 ,x 3 ) && y 2 > y 0 && y 2 < min (y 3 ,y 4 ) Order 4: x 3 < min (x 0 ,x 2 ,x 4 ) && y 3 > max (y 0 ,y 1 ,y 2 ) Order 5: x 4 > max (x 0 ,x 1 ,x 3 ) && y 4 > max (y 0 ,y 1 ,y 2 ) Fig. 7 shows sorted centroid for 5 markers.…”

Section: Fig 6 Extracted Contour Featuresmentioning

confidence: 99%

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Tracking of multiple markers based on color for visual servo control in underwater docking

Yahya

Arshad

2015

2015 IEEE International Conference on Control System, Computing and Engineering (ICCSCE)

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Autonomous underwater vehicle can perform underwater docking to power up its battery in order to prolong operation thereby reduces maintenance and cost. Prior researches indicate visual servo technique is used for docking operation. Basically, image of markers placed on underwater station is captured and the vehicle surges towards the station. These previous works focuses on deep water environment where the view is uncluttered. It will be a challenging problem if the view has so much information to be processed likewise shallow water which inadvertently reduces the chances of successful docking operation. This paper proposed tracking method using color where the markers were placed in cluttered environment. The method shows a promising result where absolute errors between current captured images and a desired image kept on reducing as the camera closing in on the markers.Index Terms-tracking markers, visual servo system, autonomous underwater vehicle, underwater docking

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Section: Fig 6 Extracted Contour Featuresmentioning

confidence: 99%

“…5 light markers were used and placed at the entrance of a cone shape docking station. In other work, a single green rectangular colored marker placed inside a circular shape docking station was used for cruise AUV docking [3]. As for hovering AUV, a single rectangular light emitting diode (LED) marker was used [2].…”

Section: Introductionmentioning

confidence: 99%

Tracking of multiple markers based on color for visual servo control in underwater docking

Yahya

Arshad

2015

2015 IEEE International Conference on Control System, Computing and Engineering (ICCSCE)

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“…The docking stage, which is also called the terminal guidance stage, is important but difficult because the AUV needs to steer into the docking station precisely under certain guidance. Several methodologies address docking guidance, and these include optical or visual guidance [2,4,5,6,7,8,9], acoustic guidance [10,11,12,13,14,15], electromagnetic (EM) guidance [16,17], electric sense [18], and different combinations of these techniques [19,20,21,22,23].…”

Section: Introductionmentioning

confidence: 99%

A Low-cost Electromagnetic Docking Guidance System for Micro Autonomous Underwater Vehicles

Peng

Liu

et al. 2019

Sensors

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As important observational platforms for the Smart Ocean concept, autonomous underwater vehicles (AUVs) that perform long-term observation in fleets are beneficial because they provide large-scale sampling data with a sufficient spatiotemporal resolution. Therefore, a large number of low-cost micro AUVs with docking capability for power recharge and data transmission are essential. This study designed a low-cost electromagnetic docking guidance (EMDG) system for micro AUVs. The EMDG system is composed of a transmitter coil located on the dock and a three-axial search coil magnetometer acting as a receiver. The search coil magnetometer was optimized for small sizes while maintaining sufficient sensitivity. The signal conditioning and processing subsystem was designed to calculate the deflection angle (β) for docking guidance. Underwater docking tests showed that the system can detect the electromagnetic signal and successfully guide AUV docking. The AUV can still perform docking in extreme positions, which cannot be realized through normal optical or acoustic guidance. This study is the first to focus on the EM guidance system for low-cost micro AUVs. The search coil sensor in the AUV is inexpensive and compact so that the system can be equipped on a wide range of AUVs.

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Design and Analysis of Underwater Docking System

Senthilnathan

Manhas

Utkarsh

et al. 2018

Materials Today: Proceedings

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RETRACTED: An autonomous underwater vehicle docking system based on optical guidance

Cited by 8 publications

References 17 publications

Tracking of multiple markers based on color for visual servo control in underwater docking

Tracking of multiple markers based on color for visual servo control in underwater docking

A Low-cost Electromagnetic Docking Guidance System for Micro Autonomous Underwater Vehicles

Design and Analysis of Underwater Docking System

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