| 一种基于视觉的水下机器人动力定位方法 |
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| 引用本文： | 汤士华,李硕,吴清潇,李一平,张奇峰.一种基于视觉的水下机器人动力定位方法[J].海洋工程,2006,24(2):112-117122. |
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| 作者姓名： | 汤士华 李硕 吴清潇 李一平 张奇峰 |
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| 作者单位： | 1. 中国科学院,沈阳自动化研究所,辽宁,沈阳,110016;中国科学院,研究生院,北京,100039
2. 中国科学院,沈阳自动化研究所,辽宁,沈阳,110016 |
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| 基金项目： | 高比容电子铝箔的研究开发与应用项目 |
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| 摘 要： | 以7 000 m载人潜水器的工程需求为背景,以水下单目摄像机为视觉传感器,进行了水下机器人动力定位方法研究。该动力定位方法利用视觉系统测量得到水下机器人与被观察目标之间的三维位姿关系,通过路径规划、位置控制和姿态控制分解,逐步使机器人由初始位姿逼近期望位姿并最终定位于期望位姿,从而实现了机器人的4自由度动力定位。通过水池实验验证了提出的动力定位方法,并且机器人能够抵抗恒定水流干扰和人工位置扰动。同时,该动力定位方法还可以实现机器人对被观察目标的自动跟踪。
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| 关 键 词： | 水下机器人 PID控制 动力定位 路径规划 |
| 文章编号： | 1005-9865（2006）02-0112-06 |
| 收稿时间： | 2005-05-19 |
| 修稿时间： | 2005-05-19 |
A dynamic positioning method based on vision for underwater vehicle |
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| TANG Shi-hu,LI Shuo,WU Qing-xiao,LI Yi-ping,ZHANG Qi-feng.A dynamic positioning method based on vision for underwater vehicle[J].Ocean Engineering,2006,24(2):112-117122. |
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| Authors: | TANG Shi-hu LI Shuo WU Qing-xiao LI Yi-ping ZHANG Qi-feng |
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| Institution: | 1. Shenyang Institute of Automation at Chinese Academy of Sciences, Shenyang 110015, China; 2. Graduate School of the Chinese Academy of Sciences, Beijing 100039, China |
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| Abstract: | To meet the project requirements of 7 000-meter manned submersible vehicle,this paper presents a dynamic positioning method based on underwater monocular camera as a vision sensor for underwater vehicles.Using three-dimension position and orientation relationship between the underwater vehicle and the observed object,the method can make the vehicle approach to and hover around the desired position and orientation through analyzing path planning,position control and orientation control,thus 4-DOF dynamic positioning for the underwater vehicle is obtained.The tank experiments demonstrate that the dynamic positioning method can work well,with constant current and man-made position disturbance,and achieve automatic tracking of the observed object. |
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| Keywords: | underwater vehicle PID control dynamic positioning path planning |
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