TELKOMNIKA Telecommunication, Computing, Electronics and Control
Single camera depth control in micro class ROV
Dublin Core
Title
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Single camera depth control in micro class ROV
Single camera depth control in micro class ROV
Subject
Ardusub, Camera-based depth control, distance measure, ROV, Triangle similarity
Description
Navigation is one of the main challenges in an underwater vehicle.
To measure and sustain the depth in the micro class remotely operated
vehicle (ROV) robot is one of the main demands in the underwater robot
competition. There are many sensors that can be used to measure
the depth; one of the sensors is using a single camera sensor. In this works, camera-based depth control is developed and evaluated for micro class ROV, namely as fitoplankton SAS ROV. Fitoplankton SAS ROV is a micro ROV prototype with six thrusters. To maintain the depth position, a PID control system with a camera-based depth sensor as the input of the setpoint is used. Moreover, the method for the camera to measure the distance is using the triangle similarity method. In this paper, the experimental scenario is using the rectangular marker to measure the distance, and the value of the depth is processing in the ground control station (GCS). The GCS will send the thruster value to control the depth, which depends on the PID control system. The experiment results show an average of depth accuracy of 95.74% to the depth setpoint.
To measure and sustain the depth in the micro class remotely operated
vehicle (ROV) robot is one of the main demands in the underwater robot
competition. There are many sensors that can be used to measure
the depth; one of the sensors is using a single camera sensor. In this works, camera-based depth control is developed and evaluated for micro class ROV, namely as fitoplankton SAS ROV. Fitoplankton SAS ROV is a micro ROV prototype with six thrusters. To maintain the depth position, a PID control system with a camera-based depth sensor as the input of the setpoint is used. Moreover, the method for the camera to measure the distance is using the triangle similarity method. In this paper, the experimental scenario is using the rectangular marker to measure the distance, and the value of the depth is processing in the ground control station (GCS). The GCS will send the thruster value to control the depth, which depends on the PID control system. The experiment results show an average of depth accuracy of 95.74% to the depth setpoint.
Creator
Simon Siregar, Muhammad Ikhsan Sani, Sintong Tua Parlindungan Silalahi
Source
DOI: 10.12928/TELKOMNIKA.v18i3.14885
Publisher
Universitas Ahmad Dahlan
Date
June 2020
Contributor
Sri Wahyuni
Rights
ISSN: 1693-6930
Relation
http://journal.uad.ac.id/index.php/TELKOMNIKA
Format
PDF
Language
English
Type
Text
Coverage
TELKOMNIKA Telecommunication, Computing, Electronics and Control
Files
Collection
Citation
Simon Siregar, Muhammad Ikhsan Sani, Sintong Tua Parlindungan Silalahi, “TELKOMNIKA Telecommunication, Computing, Electronics and Control
Single camera depth control in micro class ROV,” Repository Horizon University Indonesia, accessed November 21, 2024, https://repository.horizon.ac.id/items/show/3880.
Single camera depth control in micro class ROV,” Repository Horizon University Indonesia, accessed November 21, 2024, https://repository.horizon.ac.id/items/show/3880.