俯瞰カメラを用いた水中ロボットの自律制御と遠隔操縦援用GUIシステム

抄録

In this paper, we propose a semiautonomous motion control method for an underwater vehicle using only image information. LED marker which mounted on the vehicle is captured by the camera, then we can automatically recognized yaw angle and position of the vehicle. Using this information, we can control the position and posture of the vehicle. In addition, the attitude of the underwater vehicle is measured from the IMU sensor information, and a GUI system for maneuvering assistance is constructed. To show the effectiveness of our proposed method, experimental results are given.