Title :
Design of a robust vision-based sensor of position and rate for the guidance of autonomous underwater vehicles
Author :
Jordan, M.A. ; Berger, Claire ; Bustamante, J.L.
Author_Institution :
Dto. de Ing. Electr. y de Computadoras DIEC, Argentine Inst. of Oceanogr. IADO, Bahia Blanca, Argentina
fDate :
June 29 2011-July 1 2011
Abstract :
This paper is concerned with the design of a vision-based algorithm for on-line estimation of position and rate control errors in the guidance of autonomous underwater vehicles for path tracking of underwater lines. The algorithm uses techniques of pattern recognition with different degrees of morphological operations. Ad-hoc experiments with a sub aquatic vehicle in a test tank show the features of our approach under strong conditions of light perturbations and cloudy water.
Keywords :
path planning; pattern recognition; position control; remotely operated vehicles; robot vision; underwater vehicles; ad hoc experiment; autonomous underwater vehicles guidance; cloudy water; light perturbations; morphological operations; online position estimation; path tracking; pattern recognition; rate control errors; robust vision based sensor; sub aquatic vehicle; underwater lines; Cameras; Estimation; Kinematics; Navigation; Pattern matching; Robustness; Vehicles;
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
Print_ISBN :
978-1-4577-0080-4
DOI :
10.1109/ACC.2011.5991411