Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp
Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an impr...
| Main Authors: | , , , , , , , |
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| Format: | Article |
| Language: | English |
| Published: |
MDPI AG
2023-09-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/10/1905 |
| _version_ | 1797573342335598592 |
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| author | Tao Jiang Yize Sun Hai Huang Hongde Qin Xi Chen Lingyu Li Zongyu Zhang Xinyue Han |
| author_facet | Tao Jiang Yize Sun Hai Huang Hongde Qin Xi Chen Lingyu Li Zongyu Zhang Xinyue Han |
| author_sort | Tao Jiang |
| collection | DOAJ |
| description | Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an improved unsharp masking algorithm to further enhance the weak texture region of blurred and low contrast images. Moreover, an improved ORB feature-matching method with adaptive threshold, non-maximum suppression and improved random sample consensus has also been proposed. To overcome unknown underwater disturbances and uncertain system parameters in the underwater robotic manipulations, an adaptive non-singular terminal sliding mode controller has been proposed with a quasi-barrier function to suppress the chattering problem and improve grasp accuracy for small target. Oceanic experiments have been conducted to prove the performance of the proposed method. |
| first_indexed | 2024-03-10T21:08:29Z |
| format | Article |
| id | doaj.art-01415da9a3824d7ab7258762f39e655c |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-10T21:08:29Z |
| publishDate | 2023-09-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-01415da9a3824d7ab7258762f39e655c2023-11-19T16:58:21ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-09-011110190510.3390/jmse11101905Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target GraspTao Jiang0Yize Sun1Hai Huang2Hongde Qin3Xi Chen4Lingyu Li5Zongyu Zhang6Xinyue Han7National Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaCollege of Mechanical and Electrical Engineering, Heilongjiang Institute of Technology, Harbin 150050, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaNational Key Laboratory of Science and Technology on Underwater Vehicle, Harbin Engineering University, Harbin 150001, ChinaAutonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measurement accuracy, this paper has proposed an improved unsharp masking algorithm to further enhance the weak texture region of blurred and low contrast images. Moreover, an improved ORB feature-matching method with adaptive threshold, non-maximum suppression and improved random sample consensus has also been proposed. To overcome unknown underwater disturbances and uncertain system parameters in the underwater robotic manipulations, an adaptive non-singular terminal sliding mode controller has been proposed with a quasi-barrier function to suppress the chattering problem and improve grasp accuracy for small target. Oceanic experiments have been conducted to prove the performance of the proposed method.https://www.mdpi.com/2077-1312/11/10/1905binocular visual matchingunderwater vehicle manipulator systemnon-singular fast terminal controlunderwater target grasp |
| spellingShingle | Tao Jiang Yize Sun Hai Huang Hongde Qin Xi Chen Lingyu Li Zongyu Zhang Xinyue Han Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp Journal of Marine Science and Engineering binocular visual matching underwater vehicle manipulator system non-singular fast terminal control underwater target grasp |
| title | Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp |
| title_full | Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp |
| title_fullStr | Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp |
| title_full_unstemmed | Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp |
| title_short | Binocular Vision-Based Non-Singular Fast Terminal Control for the UVMS Small Target Grasp |
| title_sort | binocular vision based non singular fast terminal control for the uvms small target grasp |
| topic | binocular visual matching underwater vehicle manipulator system non-singular fast terminal control underwater target grasp |
| url | https://www.mdpi.com/2077-1312/11/10/1905 |
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