DC Field | Value | Language |
---|---|---|
dc.contributor.author | Park, Jin-Yeong | ko |
dc.contributor.author | Jun, Bong-huan | ko |
dc.contributor.author | Lee, Pan-mook | ko |
dc.contributor.author | Oh, Jun-Ho | ko |
dc.date.accessioned | 2013-03-11T10:48:00Z | - |
dc.date.available | 2013-03-11T10:48:00Z | - |
dc.date.created | 2012-02-06 | - |
dc.date.created | 2012-02-06 | - |
dc.date.issued | 2009-01 | - |
dc.identifier.citation | OCEAN ENGINEERING, v.36, no.1, pp.48 - 61 | - |
dc.identifier.issn | 0029-8018 | - |
dc.identifier.uri | http://hdl.handle.net/10203/99068 | - |
dc.description.abstract | This paper introduces an underwater docking procedure for the test-bed autonomous underwater vehicle (AUV) platform called ISiMI using one charge-coupled device (CCD) camera. The AUV is optically guided by lights mounted around the entrance of a docking station and a vision system consisting of a CCD camera and a frame grabber in the AUV. This paper presents an image processing procedure to identify the dock by discriminating between light images, and proposes a final approach algorithm based on the vision guidance. A signal processing technique to remove noise on the defused grabbed light images is introduced, and a two-stage final approach for stable docking at the terminal instant is suggested. A vision-guidance controller was designed with conventional PID controllers for the vertical plane and the horizontal plane. Experiments were conducted to demonstrate the effectiveness of the vision-guided docking system of the AUV. (C) 2008 Elsevier Ltd. All rights reserved. | - |
dc.language | English | - |
dc.publisher | PERGAMON-ELSEVIER SCIENCE LTD | - |
dc.title | Experiments on vision guided docking of an autonomous underwater vehicle using one camera | - |
dc.type | Article | - |
dc.identifier.wosid | 000263404500006 | - |
dc.identifier.scopusid | 2-s2.0-58149503781 | - |
dc.type.rims | ART | - |
dc.citation.volume | 36 | - |
dc.citation.issue | 1 | - |
dc.citation.beginningpage | 48 | - |
dc.citation.endingpage | 61 | - |
dc.citation.publicationname | OCEAN ENGINEERING | - |
dc.identifier.doi | 10.1016/j.oceaneng.2008.10.001 | - |
dc.contributor.localauthor | Oh, Jun-Ho | - |
dc.contributor.nonIdAuthor | Jun, Bong-huan | - |
dc.type.journalArticle | Article | - |
dc.subject.keywordAuthor | Autonomous underwater vehicle (AUV) | - |
dc.subject.keywordAuthor | Final approach | - |
dc.subject.keywordAuthor | Image processing | - |
dc.subject.keywordAuthor | Underwater docking | - |
dc.subject.keywordAuthor | Vision guidance | - |
Items in DSpace are protected by copyright, with all rights reserved, unless otherwise indicated.