Vision-based ROV horizontal motion control: Near-seafloor experimental results
Vision-based ROV horizontal motion control: Near-seafloor experimental results
- Neue Suche nach: Caccia, M.
- Neue Suche nach: Caccia, M.
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 stationkeeping in the presence of external disturbance and relatively high accuracy in horizontal motion control.
Dokumentinformationen
Vision-based ROV horizontal motion control: Near-seafloor experimental results
Vision-basierte horizontale Bewegungsregelung eines ferngesteuerten Unterwasserfahrzeugs: Experimentelle Ergebnisse aus dem Bereich des Meeresgrundes
2007
12 Seiten, 11 Bilder, 2 Tabellen, 32 Quellen
Aufsatz (Konferenz)
Englisch
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