Multi-AUV Terminal Guidance Method Based On Underwater Visual Positioning

The mother ship will recover the unmanned underwater vehicle (AUV) when the task is completed. The method of underwater acoustic positioning and guidance is not suitable for short-range recycle and does not meet the needs of underwater concealed work. Based on underwater vision positioning, we propose an end guidance method that can be used to solve the problem of multi-AUVs recycle. In this method, we use optical beacon array and the AR Marker as the guiding target and determine the pose position and orientation of the guiding target based on the PNP method. Meanwhile, we use three micro AUVs to carry out the pool test, which verifies the feasibility of the method.