Author(s): ZHANG, Y (ZHANG, Y. U. E.); WANG, XW (WANG, X. I. N. W. E. I.); LEI, PS (LEI, P. I. N. G. S. H. U. N.); WANG, SM (WANG, S. H. A. O. M. E. N. G.); YANG, YQ (YANG, Y. U. Q. I. N. G.); SUN, L (SUN, L. I. A. N. G.); ZHOU, Y (ZHOU, Y. A. N.)

Source: OPTICS LETTERS Volume: 47 Issue: 11 Pages: 2919-2922 DOI: 10.1364/OL.456544 Published: JUN 1 2022

Abstract: A smart vector-inspired optical vision guiding (VIOVG) method for autonomous underwater vehicle (AUV) docking and formation is proposed. Unlike traditional optical guiding methods based on LED arrays, the method is inspired by a vector, and uses four laser diodes to form a wing-light pattern to realize smart optical guiding for AUVs. Due to the light scattering effect from water, the four laser diodes can emit four bright and slim laser beams in water, which can be captured by underwater cameras. The intersections of the laser beams form wing-lights as markers for AUV distance and pose estimation. The wing-light pattern is easily tuned and extended by changing the propagation direction and the power of the laser beams beyond the limitation of the physical size of the AUV or docking station. The simulations and experiments show that the proposed method can achieve high precision positioning. A relative distance error of 3.35% is achieved in a positioning experiment at similar to 10 m. It has great potential for AUV docking and formation, especially for small AUVs. (C) 2022 Optica Publishing Group

Accession Number: WOS:000807404900078

PubMed ID: 35648964

Author Identifiers:

Author        Web of Science ResearcherID        ORCID Number

Zhang, Yue                  0000-0002-3843-4205

ISSN: 0146-9592

eISSN: 1539-4794

Full Text: https://opg.optica.org/ol/fulltext.cfm?uri=ol-47-11-2919&id=476240