The invention discloses an unmanned underwater vehicle autonomous tracking method based on visual perception, and the method comprises the steps that the multi-dimensional environment features of a shot underwater image are converted into an HSV color space for background removal processing, and the calculation is carried out to obtain a binary image containing a target trajectory; de-noising processing is carried out on the binarized image by adopting a corrosion and expansion processing mode to obtain an effective image; a neural network controller is built, the preprocessed effective image serves as input, label information of the correct moving direction of the underwater vehicle serves as output, so that the neural network controller is trained and optimized, and an optimal planning path is sought and converted into a turning control instruction of the underwater vehicle, so that the autonomous visual perception tracking motion control method is obtained; an underwater vehicle is adopted for an experiment, and the effectiveness and stability of the provided autonomous visual perception tracking motion control method are proved through experimental verification and simulation analysis.
本发明公开了一种基于视觉感知的无人水下航行器自主循迹方法,包括:将拍摄到的水下图像的多维度环境特征转换到HSV颜色空间进行去背景处理、解算得到包含目标轨迹的二值化图像;采用腐蚀和膨胀处理方式对二值化图像进行去噪处理获得有效图像;搭建神经网络控制器,将预处理好的有效图像作为输入,航行器正确移动方向的标签信息作为输出从而训练优化神经网络控制器,寻求最优规划路径并将其转换为水下航行器的转弯控制指令从而获得自主视觉感知循迹运动控制方法;采用水下航行器进行实验,通过实验验证和仿真分析证明所提出的自主视觉感知循迹运动控制方法的有效性和稳定性。
Unmanned underwater vehicle autonomous tracking method based on visual perception
一种基于视觉感知的无人水下航行器自主循迹方法
2021-05-11
Patent
Electronic Resource
Chinese
IPC: | G06T Bilddatenverarbeitung oder Bilddatenerzeugung allgemein , IMAGE DATA PROCESSING OR GENERATION, IN GENERAL / B63C LAUNCHING, HAULING-OUT, OR DRY-DOCKING OF VESSELS , Zuwasserlassen, Trockenstellen, Docken oder Bergen von Schiffen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen |