Visual Servoing

Oil Spill Protection (OSP) Robots: Autonomous Surface Vehicles (ASV)

  • Main Goals

To design and implement a system of multiple robots in order to protect oil spill using autonomous robotic containment booms.

To develop a robust inter-vehicle docking algorithm based on visual servoing and reinforcement learning (RL).

To develop a localization algorithm to position each robot under uncertainty.

To develop fusion algorithms of various sensors for robot positioning.

  • Concept Scenario

Designed by Ji-Hoon Kim

  • Overall System of S/W and H/W
  • H/W Prototype

Specification

Processor: Intel Core2 Duo T5900

Controller: MCU (ATmega128) x1

Sensors: 2D vision sensor, GPS, IMU, compass sensor

Actuator: Seabotix BRD-150 (110W, 19V)

Power: 22.2V 12Ah (2-hour operating time)

  • Control System

Switching controller between outer control loops

Global positioning by GPS

Target tracking (local positioning) by visual servoing for docking

Two-loop controller which consists of an inner control loop and two outer control loops

Inner loop to control robots on the water surface

Reinforcement learning and disturbance rejection schemes to optimally track other robots under uncertainty

Outer loop A to track other robots by visual servoing

Outer loop B to position each robot by global positioning

  • Demo Video Clips

Test on the ground by autonomous ground vehicles (AGV): RC vehicles

Using the same control system as OSP prototypes

Test on the water surface by OSP prototype robots