発光3Dマーカーによる混濁深海模擬環境下での認識性能評価

抄録

Autonomous Underwater Vehicles (AUVs) have been developed for seabed resources exploration. For that purpose of AUVs, it is necessary that an they are able to work for a long time to accomplish these works efficiently. Therefore, to extend active time of the AUV, researches have been conducted on autonomous returning and docking system of the AUV with a power supply station under the surface of the sea. We designed and constructed a dual-eye-based docking system for underwater battery recharging. In this system, the AUV recognizes the light-emission 3D target object installed in the station. However, a recognition performance of this system is affected by turbidity of seawater in the actual sea. To verify the influence of turbidity, evaluation experiments on recognition performance were conducted. In this thesis, we analyzed the recognition performance with different turbidities and recognition distances in dark and turbid environment.