Design of Vision-Based Self Assembling Method for Dual AUVs

AUV self assembling docking technology can solve the problem of AUV recovery and energy supply. It greatly increased the work ability of AUV. This paper studies the vision-based AUV docking self assembling technique. Using visual navigation technology to extract the AUV's position and posture information, and through a certain control law to adjust the position and attitude of the AUV to complete the docking. To verify the docking algorithm, we design and manufacture two AUV and docking devices. We have completed self assembling motion control experiments and analyzed the experimental data. Verify the feasibility of vision-based localization algorithms and control strategies.