A CAMERA-GUIDED CONTROLLER FOR PATH TRACKING OF AUTONOMOUS UNDERWATER VEHICLES

BERGER, CARLOS; JORDAN, MARIO; BUSTAMANTE, JORGE; TRABES, EMANUEL

Buenos Aires, Argentina

Congreso; Congreso Argentino de Control Automatico 2014; 2014

Asociación Argentina de Control Automático (AADECA)

This paper aims a design of a vision-based controller for autonomousunderwater vehicles (AUVs). The control system performs the path following of aline on the seafloor and tunes automatically the cruise kinematics for the advance.The navigation process rests upon a sensor which estimates the physical variablesof the relative vehicle position from the perspective of the camera. In the sensor,image processing in real time is employed. The strategy points to reach rapidlyfavorable configurations of the AUV and afterwards to pursue a perfect alignmentwith the line. Experiments of the real subaquatic world are presented