AUV positioning model employing acoustic and visual data processing

This paper describes a positioning model of an autonomous underwater vehicle attaining an underwater target equipped with an acoustic buoy. The model combines acoustic and vision-based navigation principles. The acoustic guidance assumes a one-way asynchronous signal exchanging mode. A vision-based positioning employs log-polar transformations of camera images. A PID controller is used to change the vehicle position and course. The corresponding control and error functions are given. The model was implemented in a programm code and there-after a number of numerical tests were carried out. The tests confirmed an reliability of the developed algorithms.