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基于视线导航的自主水下航行器编队轨迹控制(英文) Abstract: Underwaterautonomousnavigationishighlyanticipatedinvariousfields,suchasoceanexploration,pipelineinspection,andmilitarysurveillance.Inthispaper,weproposeavisualnavigationsystemthatutilizesimageprocessingandcontrolstrategiestoenableafleetofunderwaterautonomousvesselstonavigatethroughunknownoceanenvironments.Thesystemfacilitatesfleetmaneuveringtocarryoutunderwatertasksviaaformationcontrolalgorithm. Introduction: Watercoversabout71%oftheearth'ssurface,andunderwaterexplorationhasbecomeincreasinglyimportant.However,directhumaninterventioninunderwatertasksischallengingduetothewater'shighpressureandflow,limitinghumanaccess.Thisobstaclecanbesolvedusingunderwaterautonomousvesselsthatcannavigatewithouthumanintervention. Inthispaper,wepresentanewunderwaternavigationsystem,whichusesimageprocessingandcontrolstrategiestonavigateinanunknownunderwaterenvironmentandmaintainaformationcontrolalgorithm.Thesystememployscomputervisiontechniquestoextractvisualinformationfromtheenvironmenttoaccomplishanoptimaltrajectoryforthevessels. Methods: Theproposedsystemconsistsoffourmainmodules:acamera,animageprocessingmodule,amotioncontrolmodule,andaformationcontrolmodule.Thecameraactsastheinputsensor,gatheringvisualinformationfromtheenvironment.Theimageprocessingmoduleprocessesthedataprovidedbythecameratoextractpertinentfeaturesandrecognizelandmarks.Themotioncontrolmoduleusesthedatafromtheimageprocessingmoduletocreateasuitablepathforthevessels.Finally,theformationcontrolmoduletrackseachvessel'spositiontomaintaintheformation'sdesiredconfiguration. Results: Weusedsimulationstotesttheproposedsystem'sperformance,andtheresultswerepromising.Thesystem'srobustnessandaccuracyarealsosatisfactory,indicatingitseffectivenessincontrollingafleetofunderwaterautonomousvehicles.Wealsoconductedanexperimentinafishtankthatverifiedthesystem'sutilityinnavigatingandcontrollinganunderwaternavigationsystem. Conclusion: Inthispaper,weproposedavisualnavigationsystemthatusesimageprocessingand