由于导航误差和作业目标标图位置误差的存在，基于导航信息确定的UUV作业占位可能偏离机械手的作业范围，利用视觉装置测量的目标信息对UUV进行相对再定位和作业导引是可行的解决方案。本项目以UUV近海底自主作业任务为牵引，试图利用视觉测量信息，将UUV作业时的“本体-作业机械手”协调控制任务映射到视觉空间，并从控制论的角度将该问题的测量、反馈和控制综合加以研究。首先，以摄像机不同抖动模式下的稳像方法研究为切入点，目的在于提供稳定的视觉测量信息；随后，由于不同的视觉反馈构造的视觉伺服控制算法有着不同的控制性能，开展目标视觉反馈向量的选取与性能测度方法研究，从而为UUV的自主作业过程提供准确、得当的视觉反馈信息；最后，开展UUV“本体-作业机械手”的混合视觉伺服协调控制方法研究，目的在于保障作业任务的完成并改善控制系统的性能，最终期望是将制约自主作业型UUV发展的瓶颈技术的研究推向更进一步。

Due to the navigation error and operation target plotting position errors, UUV occupation based on navigation information may deviate from the manipulator’s operating range. For the above disadvantage, an alternative approach is to use the target image information measured by the visual device to positioning UUV again and conduct UUV operation. The project is motivated by the requirement of autonomous operation of UUV when tasks close to the seabed have to be performed. The visual measurement information is employed to map the coordinated control task of UUV-manipulator system to the image space, and the problem of coordinated control of UUV-manipulator system is addressed with the combination of measurement, feedback and control from the point of view of the control theory. First, aiming at providing the stable vision measurement information for UUV-manipulator system, the image stabilization methods under different dithering pattern of camera are investigated. Then, because the visual servo control algorithms based on the different visual feedback structures will have different control performances, in order to provide the appropriate and accurate visual feedback information for autonomous operation process of UUV, the selection of appropriate visual feedback vector is done, and the performance evaluation method of different visual servo control algorithms is developed. Finally, the method of hybrid visual servoing coordinated control is proposed for UUV-manipulator system to guarantee the accomplishment of the tasks and improve the performance of the control systems. The final objective of this work is to further promote the research of bottleneck technique which restricts the development of submerged autonomous operation technology of UUV.