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Grasping Control of a UVMS Based on Fusion Visual Image Enhancement
Mathematical Problems in Engineering ( IF 1.430 ) Pub Date : 2020-09-01 , DOI: 10.1155/2020/9084369
Wei Chen 1, 2 , Lei Wang 1 , Yuhang Zhang 1 , Xu Li 1 , Weiran Wang 1
Affiliation  

The Underwater Vehicle Manipulator System (UVMS) is an essential equipment for underwater operations. However, it is difficult to control due to the constrained problems of weak illumination, multidisturbance, and large inertia in the underwater environment. After the UVMS mathematical model based on water flow disturbance is established, fusion image enhancement algorithm based on Retinex theory is proposed to achieve fine perception of the target. The control method based on redundant resolution algorithm is adopted to establish the anti-interference controller of the manipulator, which can compensate the internal and external uncertain interference. Finally, stable underwater operation is realized. The target ranging method is used to solve the angle of each joint of the manipulator to complete the tracking and grasping of the target. Underwater experiments show that the algorithm can improve the clarity of underwater images, ensure the accuracy of robot capture, and optimize the UVMS control performance.

中文翻译:

基于融合视觉图像增强的UVMS的抓取控制

水下车辆操纵器系统(UVMS)是水下操作必不可少的设备。但是,由于水下环境中的弱照明,多扰动和大惯性的约束问题,难以控制。建立了基于水流扰动的UVMS数学模型后,提出了基于Retinex理论的融合图像增强算法,以实现对目标的精细感知。采用基于冗余分辨率算法的控制方法,建立机械手的抗干扰控制器,可以补偿内部和外部的不确定干扰。最终,实现了稳定的水下作业。目标测距方法用于解决机械手每个关节的角度,以完成对目标的跟踪和抓取。
更新日期:2020-09-01
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