首页|水面无人艇单目视觉伺服自主控制研究综述

水面无人艇单目视觉伺服自主控制研究综述

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单目视觉伺服采用相机模仿人眼视觉功能,感知周围环境和测量运动状态,是提高无人艇航行感知与控制自主性的重要手段.首先,从基本原理出发,简述视觉伺服技术分类、相机透视投影原理和无人艇运动数学模型,为文献综述分析提供框架基础.然后,根据任务复杂度,依次综述单目视觉伺服在无人艇航向控制、镇定控制、轨迹跟踪控制和集群控制等典型应用场景下的研究进展和挑战.最后,系统性地总结无人艇单目视觉伺服自主控制的潜在研究方向和发展趋势.
Review of research on monocular visual servo-based autonomous control of unmanned surface vehicles
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.

unmanned surface vehicle(USV)monocular visual servocourse controlstabilization con-troltrajectory tracking controlswarm control

何红坤、王宁、张富宇、韩冰

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大连海事大学 船舶电气工程学院,辽宁 大连 116026

江苏海洋大学 海洋工程学院,江苏 连云港 222005

大连海事大学 轮机工程学院,辽宁 大连 116026

上海船舶运输科学研究所,上海 200135

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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

国家自然科学基金资助项目船舶总体性能创新研究开放基金资助项目辽宁省中央引导地方科技发展专项资金资助

52271306314221202023JH6/100100010

2024

中国舰船研究
中国舰船研究设计中心

中国舰船研究

CSTPCD北大核心
影响因子:0.496
ISSN:1673-3185
年,卷(期):2024.19(1)
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