Abstract
This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral Angle Mapper (SAM), and chosen image parameters. An archive look-up table is constructed for varying combinations of 5-degree-of-freedom (DOF) motion (i.e., translation along all three coordinate axes as well as pitch and yaw rotations). Leader and follower vehicles are simulated for a case in which the leader is directed to specific waypoints in horizontal plane and the follower is required to maintain a fixed distance from the leader UUV. Proportional-Derivative (PD) control (without loss of generality) is applied to maintain stability of the UUVs to show proof of concept. Preliminary results indicate that the follower UUV is able to maintain its fixed distance relative to the leader UUV to within a reasonable accuracy.
Department
Center for Coastal and Ocean Mapping
Publication Date
4-2014
Journal Title
IEEE Oceans
Conference Date
April 7-10, 2014
Publisher Place
Taipei, Taiwan
Publisher
IEEE
Digital Object Identifier (DOI)
10.1109/OCEANS-TAIPEI.2014.6964338
Document Type
Conference Proceeding
Recommended Citation
F. Eren, Pe'eri, S., Rzhanov, Y., Thein, M. - W., and Celikkol, B., “Pose Detection and control of multiple unmanned underwater vehicles using optical feedback”, Oceans '14 MTS/IEEE. Taipei, Tawian, 2014.
Included in
Computer Sciences Commons, Oceanography and Atmospheric Sciences and Meteorology Commons