水下航行器视觉控制技术综述  

Review of Visual Control Technology for Undersea Vehicles

作　　者：高剑[1] 何耀祯 陈依民 张元旭 杨旭博 李宇丰 张桢驰 GAO Jian;HE Yaozhen;CHEN Yimin;ZHANG Yuanxu;YANG Xubo;LI Yufeng;ZHANG Zhenchi(School of Marine Science and Technology,Northwestern Polytechnical University,Xi’an 710072,China)

机构地区：[1]西北工业大学航海学院,陕西西安710072

出　　处：《水下无人系统学报》2024年第2期282-294,共13页Journal of Unmanned Undersea Systems

基　　金：国家自然科学基金项目资助(51979228,52102469).

摘　　要：视觉控制是通过视觉信息进行环境和自身状态感知的一种控制方式,文中将该技术应用于水下航行器控制,并对不同应用场景下的相关研究进展、难点与趋势进行分析。首先介绍水下航行器视觉控制技术发展现状与任务场景,然后对水下图像增强、目标识别与位姿估计技术进行介绍,并从水下视觉动力定位与目标跟踪、水下航行器对接及水下目标抓取作业等3个任务场景,对水下航行器视觉控制技术发展现状进行总结和分析,最后梳理了水下航行器视觉控制技术的难点与发展趋势。Visual control is a control method that utilizes visual information for environmental and self-state awareness.In this paper,this technology was applied to control undersea vehicles,and relevant research progress,challenges,and trends in different application scenarios were analyzed.The current development and task scenarios of visual control technology for undersea vehicles were first introduced,mainly focusing on underwater image enhancement,target recognition,and pose estimation technologies.The current development of visual control technology for undersea vehicles was then summarized and analyzed based on three task scenarios:underwater visual dynamic positioning and target tracking,undersea vehicle docking,and underwater operational tasks such as target grasping.Finally,the challenges and development trends of visual control technology for undersea vehicles were outlined.

关 键 词：水下航行器 水下视觉 视觉控制 

分 类 号：TJ630[兵器科学与技术—武器系统与运用工程] U674.941[交通运输工程—船舶及航道工程]