水下航行器电缆跟随自主导航方案

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585) Pub Date : 2001-08-25 DOI:10.1109/ITSC.2001.948712

Arjuna Balasuriya, T. Ura

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引用次数: 3

摘要

提出了一种基于水下电缆的自主水下航行器(auv)导航方案。跟踪电缆的目的是捕捉电缆的视频以供检查。考虑了光学图像导航中存在的两个主要问题，提出了一种传感器融合方案来克服这些问题。本文给出了在“Twin-Burger 2”水下机器人上实现该算法的实验结果。现场试验在试验池和湖水中进行。结果表明，所提出的导航方案能够解决这两个实际问题，实现电缆跟踪。

本文章由计算机程序翻译，如有差异，请以英文原文为准。

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Autonomous underwater vehicle navigation scheme for cable following

A navigation scheme for autonomous underwater vehicles (AUVs) following underwater cables is presented. The objective in following the cable is to capture a video of the cable for inspection purposes. Two main practical difficulties arising in using optical images for navigation are considered and a sensor fusion scheme is proposed to overcome these problems. The paper presents experimental results obtained by implementing this algorithm in the AUV, called 'Twin-Burger 2'. Field tests were carried out in testing tanks as well as in lake waters. The results indicates that the proposed navigation scheme could handle the two practical problems and achieve cable following.

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来源期刊

ITSC 2001. 2001 IEEE Intelligent Transportation Systems. Proceedings (Cat. No.01TH8585)

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