Visual Servoing with ANFIS-Based Control for AUV Target Tracking

Yılmaz S.

OCEANS 2026 Sanya, OCEANS 2026, Sanya, Çin, 25 - 28 Mayıs 2026, (Tam Metin Bildiri)

  • Yayın Türü: Bildiri / Tam Metin Bildiri
  • Doi Numarası: 10.1109/oceans66983.2026.11617043
  • Basıldığı Şehir: Sanya
  • Basıldığı Ülke: Çin
  • Anahtar Kelimeler: ANFIS, Autonomous Underwater Vehicle, Hough Transform, Image Processing, Object Tracking, PD Controller, YOLOv8
  • Kocaeli Üniversitesi Adresli: Evet

Özet

Recent advances in underwater technologies have increased the need for reliable AUVs. This paper presents vision-based yaw control using a real-time system that integrates image processing and control algorithms. A dedicated control board integrating image processing and control algorithms is developed to achieve real-time operation. Object detection is achieved with the Hough transform and YOLOv8 Algorithm while PD and Adaptive Fuzzy Inference System (ANFIS) controllers are used for target tracking. Results show that image-based feedback with ANFIS Control Method enhances AUV stability and tracking performance.