Physical Sciences and Mathematics Commons^™

Pose Detection And Control Of Multiple Unmanned Underwater Vehicles Using Optical Feedback, Firat Eren, Shachak Pe'eri, Yuri Rzhanov, May-Win Thein, Barbaros Celikkol

Center for Coastal and Ocean Mapping

This paper proposes pose detection and control algorithms in order to control the relative pose between two Unmanned Underwater Vehicles (UUVs) using optical feedback. The leader UUV is configured to have a light source at its crest which acts as a guiding beacon for the follower UUV which has a detector array at its bow. Pose detection algorithms are developed based on a classifier, such as the Spectral Angle Mapper (SAM), and chosen image parameters. An archive look-up table is constructed for varying combinations of 5-degree-of-freedom (DOF) motion (i.e., translation along all three coordinate axes as well as pitch and …