文章基本信息

标题：Single camera depth control in micro class ROV
本地全文：下载
作者：Simon Siregar ; Muhammad Ikhsan Sani ; Sintong Tua Parlindungan Silalahi 等
期刊名称：TELKOMNIKA (Telecommunication Computing Electronics and Control)
印刷版ISSN：2302-9293
出版年度：2020
卷号：18
期号：3
页码：1546-1552
DOI：10.12928/telkomnika.v18i3.14885
出版社：Universitas Ahmad Dahlan
摘要：Navigation is one of the main challenges in an underwater vehicle. To measure and sustain the depth in the micro class remotely operated vehicle (ROV) robot is one of the main demands in the underwater robot competition. There are many sensors that can be used to measure the depth; one of the sensors is using a single camera sensor. In this works, camera-based depth control is developed and evaluated for micro class ROV, namely as fitoplankton SAS ROV. Fitoplankton SAS ROV is a micro ROV prototype with six thrusters. To maintain the depth position, a PID control system with a camera-based depth sensor as the input of the setpoint is used. Moreover, the method for the camera to measure the distance is using the triangle similarity method. In this paper, the experimental scenario is using the rectangular marker to measure the distance, and the value of the depth is processing in the ground control station (GCS). The GCS will send the thruster value to control the depth, which depends on the PID control system. The experiment results show an average of depth accuracy of 95.74% to the depth setpoint.
关键词：ardusub; camera-based depth control; distance measure; ROV; triangle similarity;