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