Localization for underwater robot using camera and light source
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Date
2018-06
Authors
Ng, Ping Jian
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Abstract
As of today, ocean is one of the major sources of food, oil and gas. There are so
many wonders yet to be discovered under the ocean and it was no easy task as
human cannot breathe underwater. Thus, it is better to let robots to do the job. Since
they can survive without oxygen and can withstand a great amount of pressure
before disfunction. The term we come with robot under water is autonomous
underwater vehicle (AUV). However, while AUV does not require oxygen and can
withstand great pressure which human cannot, they lack the ability and advantages
as well. For example, AUV lacks the precision control as well as sense of direction.
A robot does not know where it should go unless you tell it to. We can use Global
Positioning System (GPS) to locate a robot on land so that it has “sense of direction”,
but GPS does not work well underwater. Advance AUV employs features such as
sonar and radar for underwater localization. However, those modules are very
expensive. A replacement of sonar and radar would be using camera and floating
markers. Camera facing the surface of the water can take image of floating markers,
where the position of the markers is already identified. Then, the image can be sent
to microprocessor to process the image and position of the AUV can be pinpoint its
own location, given the known location of floating markers, through a technique
called trilateration. Trilateration is a technique used to determine the coordinate of
an unknown point, given 3 distances from 3 points with known coordinate. The
result shown the technique was successful.