Autonomous docking for underwater drones is crucial for various marine applications. This paper introduces an approach to autonomous underwater vehicle (AUV) docking using ArUco marker-based localization, as demonstrated by Project MIRA, at the Tau Autonomy Center, Norway. The method combines a control system with dual-feed computer vision based perception to achieve autonomy. The control system is based on a cascaded PID controller fine-tuned using various external sensors and optimization techniques. The vision system utilizes ArUco markers for 3D positioning. Our method uses visual markers to help the drone navigate to a custom docking pad. We achieved stable and reliable docking by combining advanced control systems using visual-inertial sensors. This work highlights the potential of using visual markers and smart control systems for underwater drone operations.
Autonomous Docking for Underwater Drones Using ArUco Marker Based Localization
2024-12-19
825741 byte
Conference paper
Electronic Resource
English
Docking Station for Underwater Drones
IEEE | 2018
Indoor Navigation of an Autonomous Guided Vehicle Using ArUco Markers
Springer Verlag | 2023
|