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

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.

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

Tags

,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon , ,Repository, Repository Horizon University Indonesia, Repository Universitas Horizon Indonesia, Horizon.ac.id, Horizon University Indonesia, Universitas Horizon Indonesia, HorizonU, Repo Horizon ,

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 14, 2024, https://repository.horizon.ac.id/items/show/3880.