A vision-based controller for path tracking of autonomous underwater vehicles
- Autores
- Berger, Carlos E.; Jordán, Mario A.; Bustamante, Jorge L.; Trabes, Emanuel
- Año de publicación
- 2014
- Idioma
- inglés
- Tipo de recurso
- documento de conferencia
- Estado
- versión publicada
- Descripción
- This paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relative vehicle position from the perspective of the camera directly without the need of employing camera models for estimating physical variables. For the state estimation, image processing in real time is employed. The control strategy is developed in the state space of pure vision coordinates. The strategy points to reach rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented.
Sociedad Argentina de Informática e Investigación Operativa (SADIO) - Materia
-
Ciencias Informáticas
autonomous underwater vehicle
control and guidance systems
path following
vision sensor
vision-based control - Nivel de accesibilidad
- acceso abierto
- Condiciones de uso
- http://creativecommons.org/licenses/by-nd/3.0/
- Repositorio
- Institución
- Universidad Nacional de La Plata
- OAI Identificador
- oai:sedici.unlp.edu.ar:10915/41762
Ver los metadatos del registro completo
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A vision-based controller for path tracking of autonomous underwater vehiclesBerger, Carlos E.Jordán, Mario A.Bustamante, Jorge L.Trabes, EmanuelCiencias Informáticasautonomous underwater vehiclecontrol and guidance systemspath followingvision sensorvision-based controlThis paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relative vehicle position from the perspective of the camera directly without the need of employing camera models for estimating physical variables. For the state estimation, image processing in real time is employed. The control strategy is developed in the state space of pure vision coordinates. The strategy points to reach rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented.Sociedad Argentina de Informática e Investigación Operativa (SADIO)2014-09info:eu-repo/semantics/conferenceObjectinfo:eu-repo/semantics/publishedVersionObjeto de conferenciahttp://purl.org/coar/resource_type/c_5794info:ar-repo/semantics/documentoDeConferenciaapplication/pdf13-24http://sedici.unlp.edu.ar/handle/10915/41762enginfo:eu-repo/semantics/altIdentifier/url/http://43jaiio.sadio.org.ar/proceedings/AST/Paper2_AST_Berger.pdfinfo:eu-repo/semantics/altIdentifier/issn/1850-2806info:eu-repo/semantics/openAccesshttp://creativecommons.org/licenses/by-nd/3.0/Creative Commons Attribution-NoDerivs 3.0 Unported (CC BY-ND 3.0)reponame:SEDICI (UNLP)instname:Universidad Nacional de La Platainstacron:UNLP2025-09-29T11:01:09Zoai:sedici.unlp.edu.ar:10915/41762Institucionalhttp://sedici.unlp.edu.ar/Universidad públicaNo correspondehttp://sedici.unlp.edu.ar/oai/snrdalira@sedici.unlp.edu.arArgentinaNo correspondeNo correspondeNo correspondeopendoar:13292025-09-29 11:01:09.548SEDICI (UNLP) - Universidad Nacional de La Platafalse |
dc.title.none.fl_str_mv |
A vision-based controller for path tracking of autonomous underwater vehicles |
title |
A vision-based controller for path tracking of autonomous underwater vehicles |
spellingShingle |
A vision-based controller for path tracking of autonomous underwater vehicles Berger, Carlos E. Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control |
title_short |
A vision-based controller for path tracking of autonomous underwater vehicles |
title_full |
A vision-based controller for path tracking of autonomous underwater vehicles |
title_fullStr |
A vision-based controller for path tracking of autonomous underwater vehicles |
title_full_unstemmed |
A vision-based controller for path tracking of autonomous underwater vehicles |
title_sort |
A vision-based controller for path tracking of autonomous underwater vehicles |
dc.creator.none.fl_str_mv |
Berger, Carlos E. Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel |
author |
Berger, Carlos E. |
author_facet |
Berger, Carlos E. Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel |
author_role |
author |
author2 |
Jordán, Mario A. Bustamante, Jorge L. Trabes, Emanuel |
author2_role |
author author author |
dc.subject.none.fl_str_mv |
Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control |
topic |
Ciencias Informáticas autonomous underwater vehicle control and guidance systems path following vision sensor vision-based control |
dc.description.none.fl_txt_mv |
This paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relative vehicle position from the perspective of the camera directly without the need of employing camera models for estimating physical variables. For the state estimation, image processing in real time is employed. The control strategy is developed in the state space of pure vision coordinates. The strategy points to reach rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented. Sociedad Argentina de Informática e Investigación Operativa (SADIO) |
description |
This paper aims a design of a vision-based controller for autonomous underwater vehicles (AUVs). The control system performs the path following of a line on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the relative vehicle position from the perspective of the camera directly without the need of employing camera models for estimating physical variables. For the state estimation, image processing in real time is employed. The control strategy is developed in the state space of pure vision coordinates. The strategy points to reach rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented. |
publishDate |
2014 |
dc.date.none.fl_str_mv |
2014-09 |
dc.type.none.fl_str_mv |
info:eu-repo/semantics/conferenceObject info:eu-repo/semantics/publishedVersion Objeto de conferencia http://purl.org/coar/resource_type/c_5794 info:ar-repo/semantics/documentoDeConferencia |
format |
conferenceObject |
status_str |
publishedVersion |
dc.identifier.none.fl_str_mv |
http://sedici.unlp.edu.ar/handle/10915/41762 |
url |
http://sedici.unlp.edu.ar/handle/10915/41762 |
dc.language.none.fl_str_mv |
eng |
language |
eng |
dc.relation.none.fl_str_mv |
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dc.rights.none.fl_str_mv |
info:eu-repo/semantics/openAccess http://creativecommons.org/licenses/by-nd/3.0/ Creative Commons Attribution-NoDerivs 3.0 Unported (CC BY-ND 3.0) |
eu_rights_str_mv |
openAccess |
rights_invalid_str_mv |
http://creativecommons.org/licenses/by-nd/3.0/ Creative Commons Attribution-NoDerivs 3.0 Unported (CC BY-ND 3.0) |
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application/pdf 13-24 |
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