Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx
Compared to traditional vehicles, the underwater bionic manta ray vehicle (UBMRV) is highly maneuverable, has strong concealment, and is an emerging research field in underwater vehicles. Based on the completion of the single-body research, it is crucial to research the swarm of UBMRVs for the imple...
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| Format: | Article |
| Language: | English |
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MDPI AG
2023-02-01
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| Series: | Journal of Marine Science and Engineering |
| Subjects: | |
| Online Access: | https://www.mdpi.com/2077-1312/11/2/314 |
| _version_ | 1797620071769571328 |
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| author | Qiaoqiao Zhao Lichuan Zhang Yuchen Zhu Lu Liu Qiaogao Huang Yong Cao Guang Pan |
| author_facet | Qiaoqiao Zhao Lichuan Zhang Yuchen Zhu Lu Liu Qiaogao Huang Yong Cao Guang Pan |
| author_sort | Qiaoqiao Zhao |
| collection | DOAJ |
| description | Compared to traditional vehicles, the underwater bionic manta ray vehicle (UBMRV) is highly maneuverable, has strong concealment, and is an emerging research field in underwater vehicles. Based on the completion of the single-body research, it is crucial to research the swarm of UBMRVs for the implementation of complex tasks, such as large-scale underwater detection. The relative positioning capability of the UBMRV is the key to realizing a swarm, especially when underwater acoustic communications are delayed. To solve the real-time relative positioning problem between individuals in the UBMRV swarm, this study proposes a relative positioning method based on the combination of the improved object detection algorithm and binocular distance measurement. To increase the precision of underwater object detection in small samples, this paper improves the original YOLOx algorithm. It increases the network’s interest in the object area by adding an attention mechanism module to the network model, thereby improving its detection accuracy. Further, the output of the object detection result is used as the input of the binocular distance measurement module. We use the ORB algorithm to extract and match features in the object-bounding box and obtain the disparity of the features. The relative distance and bearing information of the target are output and shown on the image. We conducted pool experiments to verify the proposed algorithm on the UBMRV platform, proved the method’s feasibility, and analyzed the results. |
| first_indexed | 2024-03-11T08:36:18Z |
| format | Article |
| id | doaj.art-0441fd770a084bddaf8f6a1cd52c4bd7 |
| institution | Directory Open Access Journal |
| issn | 2077-1312 |
| language | English |
| last_indexed | 2024-03-11T08:36:18Z |
| publishDate | 2023-02-01 |
| publisher | MDPI AG |
| record_format | Article |
| series | Journal of Marine Science and Engineering |
| spelling | doaj.art-0441fd770a084bddaf8f6a1cd52c4bd72023-11-16T21:27:27ZengMDPI AGJournal of Marine Science and Engineering2077-13122023-02-0111231410.3390/jmse11020314Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOxQiaoqiao Zhao0Lichuan Zhang1Yuchen Zhu2Lu Liu3Qiaogao Huang4Yong Cao5Guang Pan6School of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaSchool of Marine Science and Technology, Northwestern Polytechnical University, Xi’an 710072, ChinaCompared to traditional vehicles, the underwater bionic manta ray vehicle (UBMRV) is highly maneuverable, has strong concealment, and is an emerging research field in underwater vehicles. Based on the completion of the single-body research, it is crucial to research the swarm of UBMRVs for the implementation of complex tasks, such as large-scale underwater detection. The relative positioning capability of the UBMRV is the key to realizing a swarm, especially when underwater acoustic communications are delayed. To solve the real-time relative positioning problem between individuals in the UBMRV swarm, this study proposes a relative positioning method based on the combination of the improved object detection algorithm and binocular distance measurement. To increase the precision of underwater object detection in small samples, this paper improves the original YOLOx algorithm. It increases the network’s interest in the object area by adding an attention mechanism module to the network model, thereby improving its detection accuracy. Further, the output of the object detection result is used as the input of the binocular distance measurement module. We use the ORB algorithm to extract and match features in the object-bounding box and obtain the disparity of the features. The relative distance and bearing information of the target are output and shown on the image. We conducted pool experiments to verify the proposed algorithm on the UBMRV platform, proved the method’s feasibility, and analyzed the results.https://www.mdpi.com/2077-1312/11/2/314underwater bionic manta ray vehicleunderwater object detectionrelative positioning |
| spellingShingle | Qiaoqiao Zhao Lichuan Zhang Yuchen Zhu Lu Liu Qiaogao Huang Yong Cao Guang Pan Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx Journal of Marine Science and Engineering underwater bionic manta ray vehicle underwater object detection relative positioning |
| title | Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx |
| title_full | Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx |
| title_fullStr | Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx |
| title_full_unstemmed | Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx |
| title_short | Real-Time Relative Positioning Study of an Underwater Bionic Manta Ray Vehicle Based on Improved YOLOx |
| title_sort | real time relative positioning study of an underwater bionic manta ray vehicle based on improved yolox |
| topic | underwater bionic manta ray vehicle underwater object detection relative positioning |
| url | https://www.mdpi.com/2077-1312/11/2/314 |
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