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- Title
Autonomous Piloting and Simulation on Underwater Manipulations Based on Vision Positioning.
- Authors
Wang, Junli; Wang, Shitong; Leng, Wenhao
- Abstract
ROV equipped with an underwater manipulator plays a very important role in underwater investigation, construction, and some other manipulations. Moving ROV precisely and operating an underwater manipulator to grasp and move some objects are frequent operations in underwater manipulations. At the same time, they also consume a lot of the physical strength of operators, which seriously degrades the efficiency of underwater manipulations. In this paper, a scheme of grasping the rod-shaped object autonomously is proposed. In the proposed scheme, two cameras are arranged on the ROV frame to form a stereo vision system, and then, the parameters of the position in space of the rod-shaped object are calculated from the stereo images. Accordingly, the ROV is driven, and the manipulator is controlled according to these parameters such that the end effector of the manipulator can clamp the rod-shaped object exactly. As a result, the task of capturing an object is completed autonomously. In this paper, images of the scene about underwater manipulations are simulated with the marine engineering simulation software Vortex Studio, and the position parameters of the rod-shaped cable in the scene are obtained by the algorithm proposed in this paper, and the displacement to move the ROV and the joint angles to operate the manipulator are obtained consequently. Therefore, the feasibility of autonomous capture underwater object is verified.
- Subjects
MARINE engineering; STEREO vision (Computer science); SOFTWARE engineers; SIMULATION software; STEREO image; ENGINEERING simulations
- Publication
Mobile Information Systems, 2022, Vol 2022, p1
- ISSN
1574-017X
- Publication type
Article
- DOI
10.1155/2022/2884611