Grasping Control of a UVMS Based on Fusion Visual Image Enhancement

摘要

The Underwater Vehicle Manipulator System (UVMS) is an essential equipment for underwater operations. However, it is difficult to control due to the constrained problems of weak illumination, multidisturbance, and large inertia in the underwater environment. After the UVMS mathematical model based on water flow disturbance is established, fusion image enhancement algorithm based on Retinex theory is proposed to achieve fine perception of the target. The control method based on redundant resolution algorithm is adopted to establish the anti-interference controller of the manipulator, which can compensate the internal and external uncertain interference. Finally, stable underwater operation is realized. The target ranging method is used to solve the angle of each joint of the manipulator to complete the tracking and grasping of the target. Underwater experiments show that the algorithm can improve the clarity of underwater images, ensure the accuracy of robot capture, and optimize the UVMS control performance.