一种基于视觉的水下机器人动力定位方法

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。

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.

863资助项目(2002AA401001-4A)