Akira Yanou    Department   Kawasaki University of Medical Welfare  ,    Position   Professor
Language	English
Title	Visual-servo-based Autonomous Docking System for Underwater Vehicle Using Dual-eyes Camera 3D-Pose Tracking
Conference	2015 IEEE/SICE International Symposium on System Intergaration (SII)
Conference Type	International society and overseas society
Presentation Type	Speech
Lecture Type	General
Publisher and common publisher	◎Myo Myint, Kenta YONEMORI, Akira YANOU, Mamoru MINAMI and Shintaro ISHIYAMA
Date	2015/12
Venue (city and name of the country)	Nagoya, Japan
Summary	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.