The Fuzzy-Based Visual Intelligent Guidance System of an Autonomous Underwater Vehicle: Realization of Identifying and Tracking Underwater Target Objects

Yu Hsien Lin, Chao Ming Yu, Joyce Yi Tzu Huang, Chia Yu Wu

研究成果: Article同行評審

1 引文 斯高帕斯(Scopus)

摘要

This study aims to develop a fuzzy-based visual intelligent guidance system (VIGS) that executes missions involving the identification and tracking of underwater target objects for an autonomous underwater vehicle (AUV). To demonstrate the VIGS functions, a series of tests were conducted in the stability tank and towing tank at National Cheng Kung University. The characteristic of the VIGS is to immediately capture continuous real-time images from the bow to calculate and identify visual information concerning the AUV’s surroundings. By mapping the target’s information in the AUV visual coordinate system (two-dimensional) onto the earth-fixed coordinates (three-dimensional), the relationships of corresponding distance and azimuth between the target and the AUV were defined. Eventually, this information was used to calculate the control parameters of the AUV’s moving speed and heading angle, completing the visual motion control framework. In the dynamic guidance experiments, the moving speed of the target object is proved to be a predominant factor leading to different trends of AUV’s steering performances for pitch and yaw controls.

原文English
頁(從 - 到)3118-3133
頁數16
期刊International Journal of Fuzzy Systems
24
發行號7
DOIs
出版狀態Published - 2022 10月

All Science Journal Classification (ASJC) codes

  • 理論電腦科學
  • 軟體
  • 計算機理論與數學
  • 人工智慧

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