Terminal Stage Guidance Method for Underwater Moving Rendezvous and Docking Based on Monocular Vision

Underwater moving rendezvous and docking (RVD) technology is able to enhance work efficiency and endurance of autonomous underwater vehicle (AUV) without losing concealment and flexibility. In the terminal stage of RVD, visual navigation can achieve higher accuracy. This paper propose a method of terminal stage guidance which uses low-cost optical beacon and markers to locate the target accurately. Firstly, the markers used are introduced. Next, the image processing algorithm and target position estimation algorithm are proposed. Then the design idea of RVD task flow is introduced, and the task is realized with the help of digraph. Finally, a pool experiment is carried out to verify the feasibility and robustness of the proposed algorithm.