Title :
Distance keeping for underwater vehicles - tuning Kalman filters using self-oscillations
Author :
Miskovic, Nikola ; Vukic, Zoran ; Petrovic, Ivan ; Barisic, Matko
Author_Institution :
Fac. of Electr. Eng. & Comput., Univ. of Zagreb, Zagreb, Croatia
Abstract :
This paper describes the use of Kalman filtering in distance keeping for underwater vehicles. The vision-based distance keeping module has been mounted on a micro-ROV equipped with a camera. Distance from a plane-like obstacle is determined on the basis of the laser dot projections within the frame. Since these measurements are not reliable a Kalman filter is designed - unknown dynamic model parameters are determined using the self-oscillation experiments which prove to be simple and time preserving. Finally, an I-PD controller is designed based on the Kalman filter estimates. The main task of the controller is to keep the vehicle perpendicular to the surface at a desired distance.
Keywords :
Kalman filters; PD control; cameras; control system synthesis; laser ranging; microrobots; oscillations; remotely operated vehicles; robot vision; underwater vehicles; I-PD controller; camera; dynamic model parameter; laser dot projection; micro-ROV; plane-like obstacle; remotely operated vehicle; self-oscillation; tuning Kalman filter design; underwater vehicle; vision-based laser distance keeping module; Filtering; Frequency estimation; Inspection; Kalman filters; Laser tuning; Pixel; Remotely operated vehicles; Sensor fusion; Underwater vehicles; Vehicle dynamics;
Conference_Titel :
OCEANS 2009 - EUROPE
Conference_Location :
Bremen
Print_ISBN :
978-1-4244-2522-8
Electronic_ISBN :
978-1-4244-2523-5
DOI :
10.1109/OCEANSE.2009.5278139