Visual servo control for the underwater robot station-keeping

Abstract

This paper presents a visual servo and fuzzy-PID controller to enable underwater robot station-keeping. Movements of underwater robots are easily disturbed by water flow or external factors in a deep-water environment. In this study, control systems are used to adjust the underwater robot's propeller, which reduces chattering of the robot's postures, and visual target feedback and an accelerometer are employed to control its station-keeping. Results of a station-keeping test confirm the applicability and effectiveness of the proposed controller.