Visual servo control for the underwater robot station-keeping

This paper presents a visual servo and fuzzy-PID controller to enable underwater robot station-keeping. Movements of underwater robots are easily disturbed by water flow or external factors in a deep-water environment. In this study, control systems are used to adjust the underwater robot's propeller, which reduces chattering of the robot's postures, and visual target feedback and an accelerometer are employed to control its station-keeping. Results of a station-keeping test confirm the applicability and effectiveness of the proposed controller.

[1]  Alexander Zelinsky,et al.  Preliminary experiments in visual servo control for autonomous underwater vehicle , 2001, Proceedings 2001 IEEE/RSJ International Conference on Intelligent Robots and Systems. Expanding the Societal Role of Robotics in the the Next Millennium (Cat. No.01CH37180).

[2]  Yu-Hsien Lin,et al.  Applying the self-tuning fuzzy control with the image detection technique on the obstacle-avoidance for autonomous underwater vehicles , 2015 .

[3]  Matthew W. Dunnigan,et al.  An adaptive controller for autonomous underwater vehicles , 2015, 2015 IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS).

[4]  Thana Radpukdee,et al.  Robust Adaptive PID Controller for a Class of Uncertain Nonlinear Systems: An Application for Speed Tracking Control of an SI Engine , 2015 .

[5]  Shi-Jaw Chen,et al.  DC-side fault detection for photovoltaic energy conversion system using fractional-order dynamic-error-based fuzzy Petri net integrated with intelligent meters , 2016 .

[6]  Chao-Lin Kuo,et al.  A PID controller for the underwater robot station-keeping , 2016, 2016 IEEE 14th International Conference on Industrial Informatics (INDIN).

[7]  Thor I. Fossen,et al.  Guidance and control of ocean vehicles , 1994 .

[8]  Edwin Kreuzer,et al.  Adaptive PD-controller for positioning of a remotely operated vehicle close to an underwater structure : Theory and experiments , 2007 .

[9]  S. van der Zwaan,et al.  Real-time vision-based station keeping for underwater robots , 2001, MTS/IEEE Oceans 2001. An Ocean Odyssey. Conference Proceedings (IEEE Cat. No.01CH37295).

[10]  José Antonio Cruz-Ledesma,et al.  Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle , 2014 .