A method for adjusting the proportional gain value of a proportional controller for use in an unmanned underwater vehicle. The invention includes the steps of: recording at an unmanned underwater vehicle a captured image in the direction of travel; applying a first filter to the captured image; calculating a first distance from each pixel in the captured image to a specified target color; finding the selected pixel from the captured image with the minimum distance from the specified target color, normalizing the image coordinates of the selected pixel into normalized image coordinates; passing the normalized image coordinates as an error value to the proportional controller; calculating a rate of error at the proportional controller; updating the proportional gain according at the proportional controller; and applying a control signal at the proportional controller.


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    Titel :

    Self-adapting guidance method for unmanned underwater vehicle docking


    Beteiligte:
    JONES ANTHONY D (Autor:in) / LIU WAYNE P (Autor:in) / TALL MICHAEL H (Autor:in)

    Erscheinungsdatum :

    25.02.2020


    Medientyp :

    Patent


    Format :

    Elektronische Ressource


    Sprache :

    Englisch


    Klassifikation :

    IPC:    G06V / G06N COMPUTER SYSTEMS BASED ON SPECIFIC COMPUTATIONAL MODELS , Rechnersysteme, basierend auf spezifischen Rechenmodellen / B63G OFFENSIVE OR DEFENSIVE ARRANGEMENTS ON VESSELS , Angriffs- oder Verteidigungsanordnungen auf Schiffen



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