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| Content Provider | IEEE Xplore Digital Library |
|---|---|
| Author | Myint, Myo Yonemori, Kenta Yanou, Akira Minami, Mamoru Ishiyama, Shintaro |
| Copyright Year | 2015 |
| Description | Author affiliation: Graduate School of Natural Science and Technology, Okayama University (Myint, Myo; Yonemori, Kenta; Yanou, Akira; Minami, Mamoru; Ishiyama, Shintaro) |
| Abstract | A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative pose (position and posture) through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing, (2) The proposed system can track time-variant desired target position in z-axis (front-back direction of the robot), (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target pose to the controller as a desired pose. |
| Starting Page | 989 |
| Ending Page | 994 |
| File Size | 1908713 |
| Page Count | 6 |
| File Format | |
| e-ISBN | 9781467372428 |
| DOI | 10.1109/SII.2015.7405161 |
| Language | English |
| Publisher | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Publisher Date | 2015-12-11 |
| Publisher Place | Japan |
| Access Restriction | Subscribed |
| Rights Holder | Institute of Electrical and Electronics Engineers, Inc. (IEEE) |
| Subject Keyword | Solid modeling Three-dimensional displays Regulators Target recognition Robot kinematics Cameras |
| Content Type | Text |
| Resource Type | Article |
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