DocumentCode :
2598062
Title :
A visual servoing system for an aquatic swimming robot
Author :
Sattar, Junaed ; Giguere, Philippe ; Dudek, Gregory ; Prahacs, Chris
Author_Institution :
Centre for Intelligent Machines, McGill Univ., Montreal, Que., Canada
fYear :
2005
fDate :
2-6 Aug. 2005
Firstpage :
1483
Lastpage :
1488
Abstract :
This paper describes a visual servoing system for an underwater legged robotic system named AQUA and initial experiments with the system performed in the open sea. A large class of significant applications can be leveraged by allowing such a robot to follow a diver or some other moving target. The robot uses a suite of sensing technologies, primarily based on computer vision, to allow it to navigate in shallow-water environments. The visual servoing system described here allows the robot to track and follow a given target underwater. The servo package is made up of two distinct parts: a tracker and a feedback controller. The system has been evaluated in the sea water and under natural lighting conditions. The servo system has been tested underwater, and with minor modifications, the system can be used while the robot is walking on the ground as well.
Keywords :
feedback; image motion analysis; legged locomotion; navigation; robot vision; sensors; target tracking; underwater vehicles; AQUA; aquatic swimming robot; computer vision; feedback controller; sensing technology; shallow-water environment; target tracking; tracker controller; underwater legged robotic system; visual servoing system; walking robot; Application software; Computer vision; Legged locomotion; Navigation; Robot sensing systems; Robot vision systems; Servomechanisms; Target tracking; Underwater tracking; Visual servoing; Computer Vision; Control; Servoing; Tracking; Underwater Robotics;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
Intelligent Robots and Systems, 2005. (IROS 2005). 2005 IEEE/RSJ International Conference on
Print_ISBN :
0-7803-8912-3
Type :
conf
DOI :
10.1109/IROS.2005.1545282
Filename :
1545282
Link To Document :
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