Visual based docking system for underwater vehicle

DOI:	10.11809/bqzbgcxb2024.05.031
Keywords:	visual servo; underwater vision; underwater vehicle; underwater docking system; stereo vision
Abstract:	A critical challenge for autonomous underwater vehicles (AUVs) is the docking operation for applications such as sleeping under the mother ship, recharging batteries, transferring data, and new mission downloading. The final stage of docking at a docking station requires the AUV to approach while keeping the pose (position and orientation) of the vehicle within an allowable range. The appropriate pose therefore demands a sensor unit and a control system that have high accuracy and robustness against disturbances existing in a real world underwater environment. This paper introduces a vision based AUV docking system, incorporating a 3D model based matching technique and a Real time Multi step Genetic Algorithm (GA) for the real time estimation of the robot’s relative pose. Experimental trials were conducted in environments such as simulated deep sea lightless pools and the actual underwater conditions in the sea, utilizing a remotely operated vehicle (ROV) equipped with dual eye cameras and a 3D marker. The experimental results affirm the capability of the proposed system to deliver high homing accuracy and resilience against disturbances affecting not only the captured camera images but also the vehicle’s movements. This achievement of successful docking via stereo vision, a novelty in the underwater vehicle environment, validates the efficacy of the proposed system for AUVs.
Published:	2024-05-31
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