This paper presents the development of an image-based visual servoing control system for underwater vehicles, designed to track underwater pipelines using an onboard monocular camera. We propose a novel line-pickup criterion to ensure continuous, smooth tracking when the pipeline changes its direction. An angle projection method is developed to capture the current heading angle relative to the target line and the target angle in the camera view using a 3D camera projection model. A dynamic model of a remotely operated vehicle (ROV) is developed for tracking control design. A nonlinear controller based on nonlinear feedback linearization method is designed for the ROV to track the target angle. A Lyapunov-based stability analysis is provided to prove the local stability of the nonlinear control. The visual servoing control with embedded image process is simulated in an OpenGL environment and implemented on a BlueROV in real-time experiments. The comparisons with different conditions reveal the effect of control parameters on the tracking performance. The experiments have been conducted to test the performance of the model-based nonlinear controller and the PD controller. From the experimental results, the coordination among control signals and state values has validated the effectiveness of this method even when the ROV is affected by the disturbance.

本文介绍了一种基于图像的水下航行器视觉伺服控制系统的开发，旨在使用机载单目相机跟踪水下管道。我们提出了一种新颖的线路拾取标准，以确保管道改变方向时连续、平滑的跟踪。开发了一种角度投影方法，以使用 3D 相机投影模型捕获相对于目标线的当前航向角和相机视图中的目标角度。开发了用于跟踪控制设计的遥控潜水器 (ROV) 动态模型。设计了一种基于非线性反馈线性化方法的非线性控制器，用于ROV跟踪目标角度。提供了基于李亚普诺夫的稳定性分析来证明非线性控制的局部稳定性。在OpenGL环境下对嵌入图像处理的视觉伺服控制进行了仿真，并在BlueROV上进行了实时实验。与不同条件的比较揭示了控制参数对跟踪性能的影响。实验旨在测试基于模型的非线性控制器和PD控制器的性能。从实验结果来看，即使ROV受到扰动影响，控制信号与状态值之间的协调也验证了该方法的有效性。实验旨在测试基于模型的非线性控制器和PD控制器的性能。从实验结果来看，即使ROV受到扰动影响，控制信号与状态值之间的协调也验证了该方法的有效性。实验旨在测试基于模型的非线性控制器和PD控制器的性能。从实验结果来看，即使ROV受到扰动影响，控制信号与状态值之间的协调也验证了该方法的有效性。