Review of research on monocular visual servo-based autonomous control of unmanned surface vehicles

Abstract

The monocular camera can both perceive the surroundings and measure the motion states of an unmanned surface vehicle (USV) by imitating the functions of human vision, such that the monocular visual servo is an important means of improving the navigation perception and control autonomy of USVs. Starting from basic principles, the classification of visual servo methods, perspective projection model of the camera and mathematical model of the USV are briefly described so as to provide a fundamental framework for the literature review. According to task complexity, the research progress and challenges of monocular visual servo-based USV control are then summarized in four typical scenarios, namely course control, stabilization control, trajectory tracking control and swarm control. Finally, the future trends of the monocular visual servo-based autonomous control of USVs are systematically summarized.

Keywords

• unmanned surface vehicle (usv)
• monocular visual servo
• course control
• stabilization control
• trajectory tracking control
• swarm control