Autonomous docking for underwater drones is crucial for various marine applications. This paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. The method combines a control system with dual-feed computer vision based perception to achieve autonomy. The control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. The vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. This work highlights the potential of using visual markers and smart control systems for underwater drone operations.


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    Titel :

    Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization


    Beteiligte:
    Saju Joseph, Benaiah (Autor:in) / Gunturu, Shasank (Autor:in) / Shrote, Sumukh (Autor:in) / Sandosh, S (Autor:in)


    Erscheinungsdatum :

    19.12.2024


    Format / Umfang :

    825741 byte




    Medientyp :

    Aufsatz (Konferenz)


    Format :

    Elektronische Ressource


    Sprache :

    Englisch



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