Experimental analysis of a visual-recognition control for an autonomous underwater vehicle in a towing tank

Chao Ming Yu, Yu Hsien Lin

Research output: Contribution to journalArticle

Abstract

In this study, underwater recognition technology and a fuzzy control system were adopted to adjust the attitude and revolution speed of a self-developed autonomous underwater vehicle (AUV). To validate the functionality of visual-recognition control, an experiment was conducted in the towing tank at the Department of Systems and Naval Mechatronic Engineering, National Cheng Kung University. An underwater lighting box was towed by a towing carriage at low speed. By adding real-time contour approximation and a circle-fitting algorithm to the image-processing procedure, the relationship between the AUV and the underwater lighting box was calculated. Both rudder plane angles and propeller revolution speeds were determined after the size and location of the lighting box was measured in the image. Finally, AUV performance with visual-recognition control was verified by controlling the target object in the image center during passage.

Original languageEnglish
Article number2480
JournalApplied Sciences (Switzerland)
Volume10
Issue number7
DOIs
Publication statusPublished - 2020 Apr 1

All Science Journal Classification (ASJC) codes

  • Materials Science(all)
  • Instrumentation
  • Engineering(all)
  • Process Chemistry and Technology
  • Computer Science Applications
  • Fluid Flow and Transfer Processes

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