Design of a Robust Vision-Based Sensor of Position and Rate for the Guidance of Autonomous Underwater Vehicles

MARIO A. JORDÁN; CARLOS BERGER; JORGE BUSTAMANTE

San Francisco, California

Conferencia; American Control Conference (ACC 2011); 2011

ACC's member societies: AIAA, AIChE, SIAM, ASCE, IEEE, ASME, ISA, and SCS

This paper is concerned with the design of a vision-based algorithm for on-line estimation of position and rate control errors in the guidance of autonomous underwater vehicles for path tracking of underwater lines. The algorithm uses techniques of pattern recognition with different degrees of morphological operations. Ad-hoc experiments with a subaquatic vehicle in a test tank show the features of our approach under strong conditions of light perturbations and cloudy water.