Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle

HE Hongkun; WANG Ning

doi:10.19693/j.issn.1673-3185.02853

Volume 17 Issue 5

Oct. 2022

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Chinese Journal of Ship Research > 2022 > 17(5): 166-174, 183. > DOI: 10.19693/j.issn.1673-3185.02853 CSTR: 32390.14.j.issn.1673-3185.02853

HE H K, WANG N. Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle[J]. Chinese Journal of Ship Research, 2022, 17(5): 166–174, 183. DOI: 10.19693/j.issn.1673-3185.02853

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Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle

HE Hongkun^1,,
WANG Ning^2, ,

1.
College of Marine Electrical Engineering , Dalian Maritime University, Dalian 116026, China
2.
College of Marine Engineering, Dalian Maritime University, Dalian 116026, China

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Received Date: April 14, 2022
Revised Date: August 10, 2022
Accepted Date: August 14, 2022
Available Online: August 14, 2022

This is an Open Access article distributed under the terms of the Creative Commons Attribution 4.0 International License, which permits unrestricted use, distribution, and reproduction in any medium, provided the original work is properly cited.

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Abstract

Abstract

Objectives Aiming at the accurate posture stabilization problem of an under-actuated unmanned surface vehicle (USV) in GPS-denied environments, a monocular visual servo stabilization control scheme is proposed based on homography.
Methods By virtue of the homography decomposition technique, posture errors with an unknown scale factor are directly reconstructed from current and desired images, which thoroughly removes the calibration of extrinsic camera parameters and priori information on visual targets; with respect to the under-actuation constraint, a periodic function to persistently excite the yaw angle is incorporated into the continuous time-variant output feedback controller, allowing the USV to be stabilized in the absence of image depth, movement velocities and model parameters.
Results Under the framework of the Lyapunov theory, the closed-loop visual servo system of the USV is rigorously proven to be asymptotically stable by Barbalat lemma.
Conclusions By installing an onboard monocular camera, USV posture errors can be precisely stabilized with the aid of the proposed visual servo strategy, providing significant technique support for practical applications including docking, berthing, dynamic positioning, etc.

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References

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Monocular visual servo-based stabilization control of underactuated unmanned surface vehicle