干预板机器人自主对接策略研究

S. Krupinski, F. Maurelli, G. Grenon, Y. Pétillot
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引用次数: 29

摘要

提出了一种自主停靠在干预板上的水下航行器的定位策略。简要回顾了对接的研究现状和工作解决方案,提出了对接策略的选择。它结合了一种测距声纳定位技术,该技术在大距离上具有改进的粒子过滤器,并在靠近对接面板的距离上使用车载相机进行基于视觉模型的姿态估计。在不增加计算量的情况下,增强了粒子滤波方法对车辆状态的有效探测。它在已知地图的环境中运行,具有实时性。姿态识别算法源于POSIT,并进行了鲁棒性优化。视觉对接利用一组点光标记,保证在大范围的角度良好的精度。上述策略在许多模拟和实际测试中得到了证明。
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Investigation of autonomous docking strategies for robotic operation on intervention panels
This paper presents a localization strategy for an AUV which autonomously docks on intervention panels. A brief review of past research and working solutions of docking motivates the proposed choice of the strategy. It combines a ranging sonar localization technique featuring a modified particle filter at large distance and a visual model-based pose estimation using on-board camera at close distance to the docking panel. The particle filter solution is enhanced for effective exploration of the vehicle states without increasing the computational demand. It operates in an environment with a known map and has a real-time performance. The pose recognition algorithm derives from POSIT and is optimized for robustness. The visual docking utilizes a set of point-light markers which guarantees good accuracy at a large range of angles. Mentioned strategies are proven in a number of simulations as well as practical tests.
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