Title :
Visual servoing techniques applied to an underwater vehicle
Author :
Rives, Patrick ; Borrelly, Jean-Jacques
Author_Institution :
Inst. Nat. de Recherche en Inf. et Autom., Sophia Antipolis, France
Abstract :
We deal with the control of an autonomous underwater vehicle by means of visual servoing techniques. Both theoretical and implementation issues are addressed. After having briefly presented the visual servoing framework used, we focus on its application to a pipe following task. The last part of the paper presents results obtained both in simulation and on the Vortex underwater vehicle which is an experimental ROV built by the Ifremer company
Keywords :
Kalman filters; control system synthesis; digital simulation; image sensors; image sequences; inspection; marine systems; mobile robots; position control; robot vision; robust control; telerobotics; Ifremer; ROV; Vortex underwater vehicle; pipe following task; visual servoing techniques; Couplings; Inspection; Mobile robots; Orbital robotics; Remotely operated vehicles; Robot sensing systems; Robust control; Switches; Underwater vehicles; Visual servoing;
Conference_Titel :
Robotics and Automation, 1997. Proceedings., 1997 IEEE International Conference on
Conference_Location :
Albuquerque, NM
Print_ISBN :
0-7803-3612-7
DOI :
10.1109/ROBOT.1997.619057
