期刊名称：International Journal of Innovative Research in Science, Engineering and Technology
印刷版ISSN：2347-6710
电子版ISSN：2319-8753
出版年度：2015
卷号：4
期号：1
页码：18480
DOI：10.15680/IJIRSET.2015.0401011
出版社：S&S Publications
摘要：This paper discusses about the design and fabrication of vision based Autonomous Underwater CableTracking (AUCT) system and its working principle based on the propulsion technique. The AUCT system consists ofthree levels of controllers namely, higher level controller, Middle level controller and the Lower level controller tonavigate the Autonomous Underwater Vehicle (AUV). A single CCD camera and an Ultrasonic distance sensor areused to determine the relative position of the underwater cable with respect to the Autonomous Underwater Vehicle(AUV) in a 3 dimensional space. Visual data provides two dimensions and ultrasonic distance sensor data provides the3rd dimension. An image filtering technique to reduce some undesirable features is underwater images, is used based onthe morphological operator. A real-time algorithm is developed to determine the position of the cable in the imageplane by cascading an estimator governed by AUV dynamics, with help of Hough transformation technique. Theproposed system will perform very well other than in situations where the cable is covered by waterweeds for a longdistance. This system can be used as a solution to the problem of underwater positioning especially in pre-determinedareas.
