A Vision-Based Sensor of Position and Rate for Path Tracking of Autonomous Underwater Vehicles in Environments with Regular Patterns

MARIO A. JORDÁN; CARLOS E. BERGER; JORGE L. BUSTAMANTE

León

Conferencia; 5th International Scientific Conference on Physics and Control; 2011

Universidad de León

In this paper a vision-based algorithm for on-line estimation of position control errors in a guidance system for path tracking is presented. The algorithm uses techniques of pattern recognition, however with a high degree of morphological simplifications. The algorithm detects the path line stretch which is displayed in the actual frame, and estimates the slope of the line and its midpoint. Moreover, it identifies a confidence zone in where the line stretch would be certainly. Ad-hoc experiments with a subaquatic vehicle in an test tank show the features of the algorithm proposed under strong conditions of light perturbation and cloudy water.