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A critical challenge for autonomous underwater vehicles (AUVs) is the docking operation for applications such as sleeping under the mother ship, recharging batteries, transferring data, and new mission downloading. The final stage of docking at a unidirectional docking station requires the AUV to approach while keeping the pose (position and orientation) of the vehicle within an allowable range. The...
Genetic algorithm (GA) has been applied for real-time pose estimation in this research because of its simplicity, global perspective and repeatable ability. In many of these different situations or problems, optimum selection parameters are a critical factors in the performance of GA. We have developed visual-servo type underwater vehicle using dual-eye camera and 3D marker using real-time pose tracking,...
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