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This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS)...
In this paper a dynamic model based control scheme is proposed for the stabilization of an underactuated underwater vehicle, in the presence of slowly varying, unknown disturbances. An unscented Kalman filter (UKF), based on the vehicle's dynamic model, is applied for the sensor fusion process to provide an estimation of the full state vector of the system. External disturbances and unmodeled phenomena...
This paper describes a position-based visual servo control scheme designed for an underwater vehicle. The methodology proposes a path planning technique, which guarantees that a flat target is kept in the camera optical field, while the vehicle avoids collision with the surface the target lays on. The vehicle pose (position and orientation) with respect to the target is obtained using a laser vision...
This paper describes the development of an image-based position tracking system designed for a Remotely Operated Vehicle (ROV). The sensor package consists of two underwater laser pointers and a single CCD camera mounted on the ROV. The proposed system fuses data deriving from the projection of the laser pointers on the image plane and computer vision object tracking algorithms. The results deriving...
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