Vision-based ROV horizontal motion control: Near-seafloor experimental results

被引：36

作者：

Caccia, M. ^{[1
]}

机构：

[1] CNR, ISSIA, Sez Genova, I-16149 Genoa, Italy

来源：

CONTROL ENGINEERING PRACTICE | 2007年 / 15卷 / 06期

关键词：

underwater vision; motion estimation; guidance and control; mobile robots;

D O I：

10.1016/j.conengprac.2006.05.008

中图分类号：

TP [自动化技术、计算机技术];

学科分类号：

0812 ;

摘要：

In this paper the problem of high-precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed. The proposed approach consists of the integration of a cheap monocular vision system for the estimate of the vehicle's linear motion with a conventional dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented, demonstrating the system capability in performing station-keeping in the presence of external disturbance and relatively high accuracy in horizontal motion control. (c) 2006 Elsevier Ltd. All rights reserved.

引用

页码：703 / 714

页数：12

共 32 条

[1] Adaptive control of an autonomous underwater vehicle: Experimental results on ODIN [J].