Self-adapting guidance method for unmanned underwater vehicle docking
US10572768B2 · kind B2 · utility
Assignee
Inventors
Key dates
| Filing date | Feb 26, 2018 |
| Grant date | Feb 25, 2020 |
| Priority date | — |
| Expiry date | Sep 28, 2038 |
Classification
- Technology area (CPC B)Performing Operations; Transporting
- CPC primaryB63G2008/008
- WIPO fieldComputer technology
- WIPO sectorElectrical engineering
Abstract
A method for adjusting the proportional gain value of a proportional controller for use in an unmanned underwater vehicle. The invention includes the steps of: recording at an unmanned underwater vehicle a captured image in the direction of travel; applying a first filter to the captured image; calculating a first distance from each pixel in the captured image to a specified target color; finding the selected pixel from the captured image with the minimum distance from the specified target color, normalizing the image coordinates of the selected pixel into normalized image coordinates; passing the normalized image coordinates as an error value to the proportional controller; calculating a rate of error at the proportional controller; updating the proportional gain according at the proportional controller; and applying a control signal at the proportional controller.
Source: USPTO / EPO open patent data. Objective bibliographic and citation counts.