Sensor-based behavior control for an autonomous underwater vehicle
Sensor-based behavior control for an autonomous underwater vehicle
- New search for: Dudek, Gregory
- New search for: Giguere, Philippe
- New search for: Sattar, Junaed
- New search for: Dudek, Gregory
- New search for: Giguere, Philippe
- New search for: Sattar, Junaed
In this paper, the authors present behaviors and interaction modes for a small underwater robot. In particular, they address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew, and finally orientation and motion of the vehicle through a hovering mode. The visual processing consist of target tracking using various techniques (color blob, color histogram and mean shift). The underwater communication is achieved through printed cards with virtual markers (ARTag). Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
Document information
Sensor-based behavior control for an autonomous underwater vehicle
Sensorbasierte Verhaltensregelung für ein autonomes Unterwasserfahrzeug
2008
10 Seiten, 8 Bilder, 7 Quellen
Conference paper
English
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