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Visual odometry is an effective method to localize the mobile robotic vehicles. This paper presents GLS and RMKF based visual odometry for a UUV platform, to realize local-area localization or navigation, and a certain underwater experimental results are given to compare and show respective characteristics of the two algorithms.
In this paper, the hybrid fuzzy PID control system of a pump-propelled autonomous underwater vehicle is presented. The small low-cost vehicle named ldquoU-FISHrdquo is the first one propelled and controlled by four pumps mounted on the stern. Due to the difficulty of building the model and the restriction of the computing power of the micro-controller, the hybrid fuzzy PID control algorithm, which...
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