Visão computacional aplicada a sistema de posicionamento dinâmico

Abstract

The application of computer vision in a hydrodynamic model equipped with a dynamic positioning system can, from the capture and processing of images, make possible a system capable of moving or keep this model stationary autonomously. This work presents the design and simulation of a computer vision system composed of a camera positioned outside the model. For the movement of the model, three motors were considered, which maneuver the model to a desired position and orientation. The motor controller was defined from a linear-quadratic regulator (LQR). Simulations of the computer vision system were performed using an adaptation of the physical test environment and a virtual simulator to move the engines. The results showed that the process of capturing and processing the image and calculating the displacement was successfully performed.