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In this paper, we propose the design of artificial underwater retro-reflective markers and their recognition algorithm. Retro-reflective materials, which are used for some portion of the marker, are used to overcome the limitation of underwater visibility. Owing to the distortion in the image captured by an underwater camera, the recognition algorithm consists of image preprocessing and 6-DOF pose...
This paper describes the development of the underwater robot platform for exploration work in the strong current. In order to minimize the drag force as 3.5knots, the platform is designed to have discus-shape outline and the projected area of the platform is minimized. Furthermore, the thruster are deployed symmetrically, which is advantageous for hovering and attitude control in irregular current...
This paper proposes a 3D path tracking method for a class of torpedo-type AUVs (autonomous underwater vehicles) with general form of dynamics. For this kind of AUV, there are only three control inputs are available for its 6DOF 3D motion, and therefore it's a typical underactuated system. First, we introduce certain two spherical coordinate transformations so as to transform the vehicle model into...
This paper considers the initial alignment problem for underwater robot's strapdown inertial navigation system. In general, initial alignment can be roughly divided into three types; coarse alignment, gyro compassing, and aided alignment. For underwater robot, gyro compassing is not suitable for its initialization, since it is difficult to accurately rotate the robot platform in the water. In this...
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