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Vision-based control for an AUV in a multi-robot undersea intervention task

Vision-based control for an AUV in a multi-robot undersea intervention task
Vision-based control for an AUV in a multi-robot undersea intervention task
This paper presents a novel vision-based framework for controlling an Autonomous Underwater Vehicle (AUV). In our application, this AUV is in charge of providing an alternative point of view of a predefined target during a multi-robot intervention mission, where two vehicles cooperate in order to perform the required task. Given this scenario, our framework is based on two main modules: on the one hand, a target detection and tracking module is used to determine the position of the target in the scene; on the other hand, a visual servoing module generates the required velocities for controlling the platform according to the estimated position of the target in the image plane. Results for a set of experiments in different environments are reported and discussed.
Target detection, Tracking, Underwater robotics, Visual servoing
36-48
Springer Verlag
Garcia-Fidalgo, Emilio
4e4ea434-1cc2-4cf4-96ac-1c98e60e7f27
Ortiz, Alberto
555d4472-5631-42c2-93b8-c7e8bb6d29b2
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Ollero, A.
Sanfeliu, A.
Montano, L.
Lau, N.
Cadeira, C.
Garcia-Fidalgo, Emilio
4e4ea434-1cc2-4cf4-96ac-1c98e60e7f27
Ortiz, Alberto
555d4472-5631-42c2-93b8-c7e8bb6d29b2
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
Ollero, A.
Sanfeliu, A.
Montano, L.
Lau, N.
Cadeira, C.

Garcia-Fidalgo, Emilio, Ortiz, Alberto and Massot-Campos, Miquel (2018) Vision-based control for an AUV in a multi-robot undersea intervention task. In, Ollero, A., Sanfeliu, A., Montano, L., Lau, N. and Cadeira, C. (eds.) ROBOT 2017: Third Iberian Robotics Conference. (Advances in Intelligent Systems and Computing, , (doi:10.1007/978-3-319-70833-1_4), 693) Springer Verlag, pp. 36-48. (doi:10.1007/978-3-319-70833-1_4).

Record type: Book Section

Abstract

This paper presents a novel vision-based framework for controlling an Autonomous Underwater Vehicle (AUV). In our application, this AUV is in charge of providing an alternative point of view of a predefined target during a multi-robot intervention mission, where two vehicles cooperate in order to perform the required task. Given this scenario, our framework is based on two main modules: on the one hand, a target detection and tracking module is used to determine the position of the target in the scene; on the other hand, a visual servoing module generates the required velocities for controlling the platform according to the estimated position of the target in the image plane. Results for a set of experiments in different environments are reported and discussed.

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More information

Published date: 2018
Keywords: Target detection, Tracking, Underwater robotics, Visual servoing

Identifiers

Local EPrints ID: 428782
URI: http://eprints.soton.ac.uk/id/eprint/428782
PURE UUID: bef8b3fc-af9a-4840-9052-134a784bc770
ORCID for Miquel Massot-Campos: ORCID iD orcid.org/0000-0002-1202-0362

Catalogue record

Date deposited: 08 Mar 2019 17:30
Last modified: 23 Jul 2020 00:46

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Contributors

Author: Emilio Garcia-Fidalgo
Author: Alberto Ortiz
Editor: A. Ollero
Editor: A. Sanfeliu
Editor: L. Montano
Editor: N. Lau
Editor: C. Cadeira

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