The monocular camera can both perceive the surroundings and measure the motion states of an un-manned surface vehicle(USV)by imitating the functions of human vision,such that the monocular visual servo is an important means of improving the navigation perception and control autonomy of USVs.Starting from basic principles,the classification of visual servo methods,perspective projection model of the camera and mathematical model of the USV are briefly described so as to provide a fundamental framework for the lit-erature review.According to task complexity,the research progress and challenges of monocular visual servo-based USV control are then summarized in four typical scenarios,namely course control,stabilization control,trajectory tracking control and swarm control.Finally,the future trends of the monocular visual servo-based autonomous control of USVs are systematically summarized.
关键词
无人艇/单目视觉伺服/航向控制/镇定控制/轨迹跟踪控制/集群控制
Key words
unmanned surface vehicle(USV)/monocular visual servo/course control/stabilization con-trol/trajectory tracking control/swarm control
维普
万方数据