ヤノウ　アキラ   Akira Yanou   矢納　陽    所属   川崎医療福祉大学  医療技術学部 診療放射線技術学科    職種   教授
言語種別	英語
発表タイトル	Visual-servo-based Autonomous Docking System for Underwater Vehicle Using Dual-eyes Camera 3D-Pose Tracking
会議名	2015 IEEE/SICE International Symposium on System Intergaration (SII)
学会区分	国際学会及び海外の学会
発表形式	口頭
講演区分	一般
発表者・共同発表者	◎Myo Myint, Kenta YONEMORI, Akira YANOU, Mamoru MINAMI and Shintaro ISHIYAMA
発表年月日	2015/12
開催地 （都市, 国名）	Nagoya, Japan
概要	A visual-servo type remotely operated vehicle (ROV) system with binocular wide-angle lens was developed to survey submarine resources, decontaminate radiation from mud in dam lake and so on. This paper explores the experiments on regulator performance and underwater docking of the robot system utilizing Genetic Algorithm (GA) for real-time recognition of the robot's relative pose (position and posture) through 3D marker. The visual servoing performances have been verified as follows; (1) The stability performances of the proposed regulator system have been evaluated by exerting abrupt distrubane force while the ROV is controlled by visual servoing, (2) The proposed system can track time-variant desired target position in z-axis (front-back direction of the robot), (3) The underwater docking can be completed by switching visual servoing and docking modes based on the error threshold, and by giving time-varying desired target pose to the controller as a desired pose.