Image-based visual servoing of underwater vehicles for tracking a moving target using model predictive control with motion estimation Online publication date: Mon, 22-May-2023
by Jie Liu; Jian Gao; Weisheng Yan; Yimin Chen; Bo Yang
International Journal of Vehicle Design (IJVD), Vol. 91, No. 1/2/3, 2023
Abstract: This paper introduces an image-based visual servoing (IBVS) target-tracking strategy for an underwater vehicle to track a moving target beneath the vehicle using a downward-facing camera. The relative position, orientation, and velocity of the moving target were estimated using a nonlinear unscented Kalman filter (UKF). Based on these estimated values, image Jacobian matrices with respect to the velocities of the vehicle and target were constructed. A nonlinear model predictive controller (MPC) was employed to generate the velocity commands for underwater vehicles by optimising the visual target trajectories predicted by the estimated image Jacobian matrix and the target velocity. To track the velocity commands, an adaptive neural network controller was employed considering the system uncertainties. Simulation tests were performed with a fully actuated underwater robot to verify the efficiency of the designed IBVS target-tracking strategy.
Existing subscribers:
Go to Inderscience Online Journals to access the Full Text of this article.
If you are not a subscriber and you just want to read the full contents of this article, buy online access here.Complimentary Subscribers, Editors or Members of the Editorial Board of the International Journal of Vehicle Design (IJVD):
Login with your Inderscience username and password:
Want to subscribe?
A subscription gives you complete access to all articles in the current issue, as well as to all articles in the previous three years (where applicable). See our Orders page to subscribe.
If you still need assistance, please email subs@inderscience.com
Our Blog 
Follow us on Twitter 
Visit us on Facebook