基于视觉导引与旋转接驳的自主水下航行器末端入坞研究

基于单目单灯的视觉导引和具有旋转能力的接驳站，自主水下航行器的末端入坞得到了研究。首先对末端导引入坞方案的基本原理包括方案中使用到的各个坐标系进行了描述；自主水下航行器、可旋转的接驳基站和视觉导引系统组成了用以验证末端导引入坞方案的试验平台；该方案采用的导引控制算法包括视觉导引算法、自主水下航行器入坞控制算法和水下接驳基站的旋转控制算法，而视觉导引算法主要包含图像获取、图像二值化、噪声点消除和目标位置估计四个阶段；在固定接驳基站和旋转接驳基站两种情况下，完成了自主水下航行器末端入坞的水池试验，水池试验结果验证了本文提出的末端导引入坞方案。该末端导引入坞方案的优点及需要改进之处在文章的最后进行了介绍。

Research on Terminal Docking of Autonomous Underwater Vehicle Based on Visual Guidance and Rotational Docking Station

Based on monocular single lamp visual guidance and rotational docking station, the terminal docking of autonomous underwater vehicle is introduced in this study. The principle of terminal docking scheme including different coordinates used in the scheme is described firstly. The experimental platform is composed of autonomous underwater vehicle(AUV), rotational docking station and visual guidance system to verify the terminal guidance scheme. The guidance and control algorithm of this scheme is constituted by visual guidance algorithm, docking control algorithm and rotational control algorithm. Four stages, namely, image acquisition, binarization of the captured images, elimination of noisy luminaries, and estimation of the relative position, constitute the visual guidance algorithm. A pool trial with two different circumstances is conducted to validate the proposed scheme. Some advantages and defects of this terminal docking schemeare introduced and some future works are proposed at last.