Object Tracking Remotely Operated Vehicle (ROV Control Algorithm)

Ooi, Tzin Yung (2012) Object Tracking Remotely Operated Vehicle (ROV Control Algorithm). Final Year Project (Other), Tunku Abdul Rahman University College.

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Abstract

Semi-Autonomous Underwater Vehicle which in short is S-AUV came from another word — Autonomous Underwater Vehicle (AUV). AUV is a vehicle which travels underwater without requiring input from an operator however S-AUV is a half auto half manual AUV. S-AUV can be manually control while it dives into water or it can be working on itself tracking an object which it has detected. The main research for this project is on the waterproof body of the S-AUV, the control algorithm, the wireless communication between computer with the S-AUV, and also the image processing tracking algorithm. This project employs the use of new technology components such as MBED and Xbee. MBED and Xbee had been newly introduced to the market and have great market in the future. The S-AUV can be controlled wirelessly by user to perform different tasks such as diving, moving, turning, and switching mode. When a particular object is detected, the mode can be switched to auto mode and thus the S-AUV will track and follow that particular object. The control algorithm of the S-AUV using microcontroller MBED will decide the abilities of the S-AUV underwater. The sensitivity, flexibility, and the agility of the S-AUV will all be controlled by the microcontroller. Other than that, a user friendly graphical interface which is designed by using Microsoft Visual Basic 2010 will also become one of the winning factors for this project.