Istituto di Studi sui Sistemi Intelligenti per l'Automazione     
Caccia M. Vision-based ROV horizontal motion control: Near-seafloor experimental results. In: Control Engineering Practice, vol. 15 (6) pp. 703 - 714. Special Section on Control Applications in Marine Systems - CAMS2004, Control Applications in Marine Systems (Ancona, Italy, July 2004). Longhi S., Katebi R., Daley S (eds.). Elsevier, 2007.
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.
DOI: 10.1016/j.conengprac.2006.05.008
Subject underwater vision
motion estimation
guidance and control
mobile robots

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