This study aims to develop an virtual-image navigation mode to support the optimal route plan of Autonomous Underwater Vehicle (AUV) for the inspection task. For the safety of navigation, the results present the inspection process by virtual image and obstacle-avoidance as well. In terms of path planning, the optimal route is chosen by adopting the method of Multi-Objective Particle Swarm algorithm (MOPSO) with respect to virtual images of obstacles. Thus, each feasible route is searched iteratively according to two objectives, i.e. sailing time and joules consumption. In the process of image virtualization, the detecting points will be distributed over the limited space and the environmental depths for identifying the features of obstacles will be visualized referring to the stereo vision technique. In summary, the system is not only beneficial to optimize feasible routes but also identify features of obstacles for the purpose of tracking. Eventually, several underwater objects would be constructed and tested in the simulation for combining the image navigation with the underwater inspection of AUV.
|Number of pages||9|
|Journal||Journal of Taiwan Society of Naval Architects and Marine Engineers|
|Publication status||Published - 2016 Feb|
All Science Journal Classification (ASJC) codes
- Ocean Engineering
- Mechanical Engineering