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Ryan Febriansyah,Soo Young Shin,Simon Siregar 한국통신학회 2022 한국통신학회 학술대회논문집 Vol.2022 No.2
Autonomous Underwater Vehicle (AUV) is being widely researched in order to achieve superior performance when working in hazardous environments. This paper focuses on Implementation of Visual Processing for Autonomous Underwater Vehicle (AUV) on Robot Operating System (ROS) using Hough Transform. AUV on sensor for navigation, localization, and mapping. Since one the most important system in an underwater robot is the sensing system or visual identification, AUV control system using visual sensor also has significant role to improve AUV performance. Therefore, visual processing algorithm using Hough Transform is implemented on this work. Robot Operating System (ROS) is deployed to the companion computer in order to handle messages between processes. The result shows that AUV able to do underwater object detection and tracking using Hough Transform and PID algorithm with good tracking accuracy.