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
Garcia-Fidalgo, Emilio
4e4ea434-1cc2-4cf4-96ac-1c98e60e7f27
Ortiz, Alberto
555d4472-5631-42c2-93b8-c7e8bb6d29b2
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
2018
Garcia-Fidalgo, Emilio
4e4ea434-1cc2-4cf4-96ac-1c98e60e7f27
Ortiz, Alberto
555d4472-5631-42c2-93b8-c7e8bb6d29b2
Massot-Campos, Miquel
a55d7b32-c097-4adf-9483-16bbf07f9120
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, 693)
Springer, .
(doi:10.1007/978-3-319-70833-1_4).
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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
Catalogue record
Date deposited: 08 Mar 2019 17:30
Last modified: 16 Mar 2024 04:39
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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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