NDLI: Visual servo control of an underwater vehicle using a Laser Vision System

Content Provider	IEEE Xplore Digital Library
Author	Karras, G.C. Kyriakopoulos, K.J.
Copyright Year	2008
Description	Author affiliation: Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens (Karras, G.C.; Kyriakopoulos, K.J.)
Abstract	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 system (LVS). The LVS projects two laser dots in the image plane while it tracks the target using computer vision algorithms. The position of each laser dot in the image plane is directly related to the distance between the vehicle and the surface the target is located. The path planning strategy is based on the artificial potential field method (APF). The attractive part of the APF is responsible for minimizing the error between the current vehicle position and the desired. The repulsive part of the APF restricts the target inside the camera optical field while keeps away the laser dots from image regions related to small distances between the vehicle and the surface the target is located. The steering control of the vehicle is achieved by feeding the computed points of the path planning into a Cartesian kinematic controller, which was slightly modified for the needs of the methodology. The overall efficiency of the system, was proved through an extensive experimental procedure, using a small remotely operated vehicle (ROV) in a test tank.
Starting Page	4116
Ending Page	4122
File Size	282365
Page Count	7
File Format	PDF
ISBN	9781424420575
DOI	10.1109/IROS.2008.4650935
Language	English
Publisher	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Publisher Date	2008-09-22
Publisher Place	France
Access Restriction	Subscribed
Rights Holder	Institute of Electrical and Electronics Engineers, Inc. (IEEE)
Subject Keyword	Vehicles Lasers Cameras Visualization Servosystems Distance measurement Underwater vehicles
Content Type	Text
Resource Type	Article

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