Grasping Control of a UVMS Based on Fusion Visual Image Enhancement

The Underwater Vehicle Manipulator System (UVMS) is an essential equipment for underwater operations. However, it is difficult to control due to the constrained problems of weak illumination, multidisturbance, and large inertia in the underwater environment. After the UVMS mathematical model based on water flow disturbance is established, fusion image enhancement algorithm based on Retinex theory is proposed to achieve fine perception of the target. The control method based on redundant resolution algorithm is adopted to establish the anti-interference controller of the manipulator, which can compensate the internal and external uncertain interference. Finally, stable underwater operation is realized. The target ranging method is used to solve the angle of each joint of the manipulator to complete the tracking and grasping of the target. Underwater experiments show that the algorithm can improve the clarity of underwater images, ensure the accuracy of robot capture, and optimize the UVMS control performance.

[1]  Xiao-Ping Zhang,et al.  A retinex-based enhancing approach for single underwater image , 2014, 2014 IEEE International Conference on Image Processing (ICIP).

[2]  Yan Yan,et al.  An Adaptive EKF-FMPC for the Trajectory Tracking of UVMS , 2020, IEEE Journal of Oceanic Engineering.

[3]  M. S. Hitam,et al.  Mixture contrast limited adaptive histogram equalization for underwater image enhancement , 2013, 2013 International Conference on Computer Applications Technology (ICCAT).

[4]  Ales Zamuda,et al.  Success history applied to expert system for underwater glider path planning using differential evolution , 2019, Expert Syst. Appl..

[5]  Hyeung-Sik Choi,et al.  Simulation and Experiment of Underwater Vehicle Manipulator System Using Zero-Moment Point Method , 2017 .

[6]  Weidong Zhang,et al.  Adaptive non‐singular integral terminal sliding mode tracking control for autonomous underwater vehicles , 2017, IET Control Theory & Applications.

[7]  Liu Junjie,et al.  Trajectory Optimization of Spray Painting Robot for Complex Curved Surface Based on Exponential Mean Bézier Method , 2017 .

[8]  Laxman M. Waghmare,et al.  Robust task-space control of an autonomous underwater vehicle-manipulator system by PID-like fuzzy control scheme with disturbance estimator , 2017 .

[9]  Lei Wang,et al.  Trajectory Planning for Spray Painting Robot Based on Point Cloud Slicing Technique , 2020, Electronics.

[10]  Wei Chen,et al.  Trajectory Optimization of Electrostatic Spray Painting Robots on Curved Surface , 2017 .

[11]  Wei Chen,et al.  Automatic Spray Trajectory Optimization on Bézier Surface , 2019 .

[12]  Nor Ashidi Mat Isa,et al.  Enhancement of low quality underwater image through integrated global and local contrast correction , 2015, Appl. Soft Comput..

[13]  Yan Yan,et al.  Robust Control of Underwater Vehicle-Manipulator System Using Grey Wolf Optimizer-Based Nonlinear Disturbance Observer and H-Infinity Controller , 2020, Complex..

[14]  Qin Zhang,et al.  Robust Magnetic Tracking of Subsea Cable by AUV in the Presence of Sensor Noise and Ocean Currents , 2018, IEEE Journal of Oceanic Engineering.

[15]  Shuanghe Yu,et al.  Design of an indirect adaptive controller for the trajectory tracking of UVMS , 2018 .

[16]  Long Jin,et al.  Robot Manipulator Redundancy Resolution , 2017 .

[17]  Yang Tang,et al.  Optimized Combination of Spray Painting Trajectory on 3D Entities , 2019 .

[18]  Dean Zhao,et al.  Picking Robot Visual Servo Control Based on Modified Fuzzy Neural Network Sliding Mode Algorithms , 2019, Electronics.

[19]  Xiao-Ping Zhang,et al.  A Probabilistic Method for Image Enhancement With Simultaneous Illumination and Reflectance Estimation , 2015, IEEE Transactions on Image Processing.

[20]  Yan Yan,et al.  An EKF-Based Fast Tube MPC Scheme for Moving Target Tracking of a Redundant Underwater Vehicle-Manipulator System , 2019, IEEE/ASME Transactions on Mechatronics.

[21]  Jia Liu,et al.  Image-Based Visual Servoing of Helical Microswimmers for Planar Path Following , 2020, IEEE Transactions on Automation Science and Engineering.