抄録
This paper studies a control characteristics of visual-servo type underwater vehicle system using three-dimensional (3D) marker under air bubble disturbance on real-time pose tracking for visual servoing. The recognition of vehicle's pose through three-dimensional marker is executed by Genetic Algorithms (GA). The proposed system does not merely calculate the position and orientation information, but can recognize the target position and orientation information through GA while visual servoing, because the system utilizes a three-dimensional marker shape and color to recognize the marker. In our previous research, a regulator performance of the system about the vehicle's pose to 3D marker is explored under the condition that there is no disturbance on images. Therefore this paper explores the control results the robustness of the proposed system for air bubble disturbance on the image, aiming at confirming the control characteristics of the proposed visual servoing system. The following results were derived; (1) The proposed system is robust to time-variant target position in x-axis (front-back direction of the vehicle). (2) Although the fitness value of GA is influenced by disturbance, the system can keep recognizing the position and orientation of 3D marker, and tracking by visual servoing could be maintained under the air bubble disturbances.
