Autonomous Underwater Vehicle Vision Guided Docking Experiments Based on L-Shaped Light Array

In order to realize recovery of an autonomous underwater vehicle (AUV), the L-shaped light array installed at the bottom of the fork-carrying-pole docking device is designed, and the visual positioning algorithm based on the L-shaped light array is proposed. The L-shaped light array is identified by a camera installed on the abdomen of the AUV, the relative position deviation from the AUV and the light array is calculated, and the AUV is docked according to the obtained positional deviation. The monocular four-degree-of-freedom positioning algorithm for AUV solves the problem of missing part of the target light source. Judging the heading angle is improved when the AUV has a longitudinal inclination (heeling angle). The docking experiment of AUV recovery is carried out to verify the feasibility of the L-shaped light array as visual guidance and the stability of the positioning algorithm.