A Vision-Based Controller based with a Vision Metrics for Path Tracking of Underwater Vehicles

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

Marina Bay Sand

Conferencia; 13th International Conference on Control, Automation, Robotics and Vision, ICARCV 2014; 2013

IEEE Control Systems Society, IEEE Robotics and Automation Society y IEEE Systems, Man and Cybernetics Society.

TRABAJO EN REVISION PARA SER PRESENTADO EN ICARCV 2014 ------------------------------------------------------------------------------------------------------------------ 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.