کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

صفحه اصلی / نهمین کنفرانس بین المللی کنترل ، ابزار دقیق و اتوماسیون

Image-based Visual Servoing for Dynamic Positioning of a Work-class ROV with Depth Computation

نویسندگان :

Ali Nourmohammadi¹ Mehdi Loueipour² Alireza Hosseinnajad³

1- دانشگاه صنعتی اصفهان 2- دانشگاه صنعتی اصفهان 3- دانشگاه صنعتی اصفهان

کلمات کلیدی :

Remotely Operated Vehicle (ROV)،Dynamic Positioning (DP)،Image-Based Visual Servoing (IBVS)،Depth computation،Camera calibration

چکیده :

This paper presents an image-based visual servo (IBVS) controller for dynamic positioning (DP) of a remotely operated vehicle (ROV) with respect to a fixed target in a camera-in-hand configuration. To address the challenge of depth computation in IBVS, a novel approach that assumes knowledge of the distance between three feature points has been presented. Additionally, in order to bring the simulation results closer to reality a real camera was calibrated and its intrinsic parameters were used in the camera model. Finally, a proportional-integral-derivative (PID) controller was used to dynamically position an ROV. The simulation was performed on a work-class ROV to demonstrate the effectiveness of the proposed IBVS controller in dealing with system uncertainties and external disturbances.