PUMA
Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Vision-based ROV horizontal motion control: Experimental results. In: CAMS 2004 - IFAC Conference on Control Applications in Marine Systems (Ancona, Italy, 7-9 July 2004). Proceedings, pp. 397 - 402. R. Katebi, S. Longhi (eds.). IFAC, 2004.
 
 
Abstract
(English)
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 in this paper. The proposed approach consists in the integration of a monocular vision system for the estimate of the vehicle’s linear motion with a dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented, pointing out the role played by the mechanical design of the actuation and illumination systems in achieving satisfactorily performance in operating conditions.
Subject Underwater vision
Motion estimation
Guidance and control
Mobile Robots


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