抄録
An underwater vehicle system based on visual servoing technology with binocular wide-angle lens was developed to decontaminate radiation from mud in dam lake, river, regulation pond, sea and storage reservoirs in FUKUSHIMA. A real-time pose detection of target object through binocular camera system utilizing Genetic Algorithm(GA) for underwater vehicle is used, which is combined with servo controller, enabling to enhance stability performance of the vehicle's pose relative to 3D marker. The following results were derived: (1) The robustness of the proposed regulator system has been verified by exerting abrupt disturbance. (2) A robust stability for 3D pose control in visual servoing process was confirmed. This visual servoing experiment to regulate the pose of Autonomous Underwater Vehicle(AUV) is aimed at developing an AUV system to have the vehicle recharge batteries on it to continue decontamination work under the sea without being interrupted by returning to ship and recharging.
