DocumentCode :
2857292
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
fYear :
2011
fDate :
June 29 2011-July 1 2011
Firstpage :
3978
Lastpage :
3983
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;
fLanguage :
English
Publisher :
ieee
Conference_Titel :
American Control Conference (ACC), 2011
Conference_Location :
San Francisco, CA
ISSN :
0743-1619
Print_ISBN :
978-1-4577-0080-4
Type :
conf
DOI :
10.1109/ACC.2011.5991411
Filename :
5991411
Link To Document :
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