JORDAN Mario Alberto
congresos y reuniones científicas
Path Tracking In Underwater Vehicle Navigation-On-Line Evaluation Of Guidance Path Errors Via Vision Sensor
MARIO A. JORDÁN; CARLOS E. BERGER; JORGE L. BUSTAMANTE; SANTIAGO HANSEN
Conferencia; 49th IEEE Conference on Decision and Control (CDC10); 2010
In this paper a vision-based algorithm for online 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. Adhoc 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.