【作者】 吴清潇； 郝颖明； 李硕； 朱枫；

【Author】 WU Qing-xiao~(1,2) HAO Ying-ming~1 LI Shuo~(1,2) ZHU Feng~1 1.Shenyang Institute of Automation,Chinese Academy of Sciences,Shenyang 110016,China; 2.Graduate School,Chinese Academy of Sciences,Beijing 100039,China.

【机构】 中国科学院 沈阳自动化研究所；

【摘要】 为实现水下机器人的悬停定位,提出一种基于视觉伺服的方法．通过安装在机器人上的摄像机实时摄取特定观察目标的图像,应用基于单目视觉位姿估计方法获取观察目标相对干摄像机的位姿信息,并以此作为反馈构成机器人运动的伺服控制．以本单位的水下机器人控制系统实验研究平台为载体,在实验水池内完成了实验．实验结果表明,在存在外力扰动的情况下机器人可以运动到指定位姿并保持悬停．更多还原

【Abstract】 In order to implement the station keeping of an underwater vehicle,a method based on visual servoing is proposed.The image of the special object is obtained synchronously by using a camera is fixed on the robot.Then the pose between the object and the camera is got by using a pose estimation method based on monocular vision.The result is used as the feedback for the servoing control of the movement of the robot.The real experiment is accomplished in the experimental cistern based on our movement control platform of underwater vehicle.The results show that the robot can move to the desired pose and the station keeping is achieved when the outer force disorder existed.更多还原