Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker

Abstract

Abstract: The detection and tracking of underwater pipeline based on monocular vision system of AUV(autonomous underwater vehicle) were addressed. An integrated vision system including software and hardware structure was designed. The feature of underwater pipeline image was analyzed and according to that, corresponding preprocessing method was proposed. An improved Hough transforming was advanced to obtain pipeline contour. Pipeline reference zone was estimated to increase the accuracy and decrease the time cost of pipeline tracking. Finally, the system was validated to be effective and feasible through the tank experiments.

Key words: autonomous underwater vehicle (AUV), pipeline detection, Hough transforming, reference zone

CLC Number:

TP 242

ZENG Wen-Jing, XU Yu-Ru, WAN Lei, ZHANG Tie-Dong. Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker[J]. Journal of Shanghai Jiaotong University, 2012, 46(02): 178-183.

[1]	LI Jinjiang, XIANG Xianbo, LIU Chuan, YANG Shaolong. Robust Seabed Terrain Following Control of Underactuated AUV with Prescribed Performance Guidance Law Under Time Delay of Actuator [J]. Journal of Shanghai Jiao Tong University, 2022, 56(7): 944-952.
[2]	YANG Tao (杨涛), ZHAO Jiankang∗ (赵健康). Solution to Long-Range Continuous and Precise Positioning in Deep Ocean for Autonomous Underwater Vehicles Using Acoustic Range Estimation and Inertial Sensor Measurements [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 281-297.
[3]	FANG Haolin (房浩霖), ZHANG Jiawen (张家闻), LI Jiawang∗ (李家旺). Switched Three-Dimensional Decoupling Stabilization of Underactuated Autonomous Underwater Vehicles [J]. J Shanghai Jiaotong Univ Sci, 2022, 27(3): 383-392.
[4]	WU Lihong, FENG Xisheng, YE Zuolin, LI Yiping. Physics-Based Simulation of AUV Forced Diving by Self-Propulsion [J]. Journal of Shanghai Jiao Tong University, 2021, 55(3): 290-296.
[5]	LI Yueming,WANG Xiaoping,ZHANG Junjun,CAO Jian,ZHANG Yinghao. X-Rudder Autonomous Underwater Vehicle Control Allocation Based on Improved Quadratic Programming Algorithm [J]. Journal of Shanghai Jiaotong University, 2020, 54(5): 524-531.
[6]	PANG Shikun,LIANG Xiaofeng,LI Yinghui,YI Hong. Collision Avoidance Strategy for Autonomous Underwater Vehicle Based on Null-Space-Based Behavioral Approach [J]. Journal of Shanghai Jiaotong University, 2020, 54(3): 295-304.
[7]	DU Xiaoxu,CUI Hang. Three-Dimensional Motion Simulation and Analysis for Lateral Separation of Autonomous Underwater Vehicle Load [J]. Journal of Shanghai Jiaotong University, 2017, 51(12): 1480-1487.
[8]	ZHU Xinyao1，SONG Baowei2,XU Gang1,YANG Songlin1. Research on Landing Strategy and Influencing Factors of an Autonomous Underwater Vehicle with Supporting Mechanism [J]. Journal of Shanghai Jiaotong University, 2017, 51(10): 1241-1251.
[9]	DU Xiao-xu1* (杜晓旭), LI Xin-liang1 (李新亮), HAO Cheng-zhi2 (郝承智), WANG You-jiang1 (王有江). Stability Analysis of Two-Point Mooring Autonomous Underwater Vehicle [J]. Journal of shanghai Jiaotong University (Science), 2015, 20(5): 618-624.
[10]	WANG Si-ling1* (王司令), SONG Bao-wei1 (宋保维), DUAN Gui-lin2 (段桂林), DU Xi-zhao3 (杜喜昭). Automatic Wireless Power Supply System to Autonomous Underwater Vehicles by Means of Electromagnetic Coupler [J]. Journal of shanghai Jiaotong University (Science), 2014, 19(1): 110-114.
[11]	WAN Lei,YANG Yong,LI Yueming. Actuator Fault Diagnosis of Automatic Underwater Vehicle Using Gaussian Particle Filter [J]. Journal of Shanghai Jiaotong University, 2013, 47(07): 1072-1076.
[12]	ZENG Wen-jing (曾文静), WAN Lei (万磊), ZHANG Tie-dong (张铁栋), HUANG Shu-ling (黄蜀玲). Simultaneous Localization and Mapping of Autonomous Underwater Vehicle Using Looking Forward Sonar [J]. Journal of shanghai Jiaotong University (Science), 2012, 17(1): 91-097.
[13]	YAN Hui, GE Tong, WANG Biao. Introduction of a Novel HeavierThanWater Autonomous Underwater Vehicle and the Analysis on the Advantages [J]. Journal of Shanghai Jiaotong University, 2012, 46(08): 1173-1177.
[14]	Lv Chong，PANG Yongjie，WANG Bo，ZHANG Lei. Autonomous Underwater Vehicle Improved Surface Controller and Semiphysical Simulation [J]. Journal of Shanghai Jiaotong University, 2010, 44(07): 957-0961.

Robotics Vision-Based System of Autonomous Underwater Vehicle for an Underwater Pipeline Tracker

Knowledge

Abstract

Cite this article

share this article

References

Related Articles 14

Recommended Articles

Metrics

Comments