A vision-based controller for path tracking of autonomous underwater vehicles
This paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relat...
Guardado en:
| Autores principales: | , , , |
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| Formato: | Objeto de conferencia |
| Lenguaje: | Inglés |
| Publicado: |
2014
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| Materias: | |
| Acceso en línea: | http://sedici.unlp.edu.ar/handle/10915/41762 http://43jaiio.sadio.org.ar/proceedings/AST/Paper2_AST_Berger.pdf |
| Aporte de: |
| id |
I19-R120-10915-41762 |
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| record_format |
dspace |
| institution |
Universidad Nacional de La Plata |
| institution_str |
I-19 |
| repository_str |
R-120 |
| collection |
SEDICI (UNLP) |
| language |
Inglés |
| topic |
Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control |
| spellingShingle |
Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control Berger, Carlos E. Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel A vision-based controller for path tracking of autonomous underwater vehicles |
| topic_facet |
Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control |
| description |
This paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relative vehicle position from the perspective of the camera directly without the need of employing camera models for estimating physical variables. For the state estimation, image processing in real time is employed. The control strategy is developed in the state space of pure vision coordinates. The strategy points to reach rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented. |
| format |
Objeto de conferencia Objeto de conferencia |
| author |
Berger, Carlos E. Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel |
| author_facet |
Berger, Carlos E. Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel |
| author_sort |
Berger, Carlos E. |
| title |
A vision-based controller for path tracking of autonomous underwater vehicles |
| title_short |
A vision-based controller for path tracking of autonomous underwater vehicles |
| title_full |
A vision-based controller for path tracking of autonomous underwater vehicles |
| title_fullStr |
A vision-based controller for path tracking of autonomous underwater vehicles |
| title_full_unstemmed |
A vision-based controller for path tracking of autonomous underwater vehicles |
| title_sort |
vision-based controller for path tracking of autonomous underwater vehicles |
| publishDate |
2014 |
| url |
http://sedici.unlp.edu.ar/handle/10915/41762 http://43jaiio.sadio.org.ar/proceedings/AST/Paper2_AST_Berger.pdf |
| work_keys_str_mv |
AT bergercarlose avisionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT jordanmarioa avisionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT bustamantejorgel avisionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT trabesemanuel avisionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT bergercarlose visionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT jordanmarioa visionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT bustamantejorgel visionbasedcontrollerforpathtrackingofautonomousunderwatervehicles AT trabesemanuel visionbasedcontrollerforpathtrackingofautonomousunderwatervehicles |
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Repositorios |
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