Hybrid Visual Servoing Control for Underwater Vehicle Manipulator Systems With Multiple Cameras
针对水下机器人操作系统对移动目标的精确视觉操作，提出一种结合双目相机位置视觉伺服和单目相机未标定视觉伺服的混合控制方案，通过雅可比矩阵融合算法实现长距离精确操作，仿真和实验验证了鲁棒性和有效性。
To realize underwater accurate vision-based operations, this article proposes a hybrid visual servoing control scheme for underwater vehicle manipulator systems (UVMSs) toward a moving target. First, the position-based visual servoing (PBVS) scheme is purposed based on the binocular camera. Second, to reduce the influence of hand-eye system uncertainties, an uncalibrated visual servoing (UVS) control scheme based on the monocular camera is presented. The partitioned Broyden’s method is utilized to estimate the Jacobian matrix, and a modified adaptive Broyden’s class method is proposed to obtain the approximation of the residual matrix. Afterward, in order to realize long range accurate operations, a novel hybrid visual servoing scheme with Jacobian matrix fusion algorithm is presented not only to combine the PBVS scheme and the UVS scheme but also to avoid the trial movements’ influence. Simulations and an experiment are conducted to testify the robustness and effectiveness of the presented scheme.