JORDAN Mario Alberto
congresos y reuniones científicas
Design of a Robust Vision-Based Sensor of Position and Rate for the Guidance of Autonomous Underwater Vehicles
MARIO A. JORDÁN; CARLOS E. BERGER; JORGE L. BUSTAMANTE
Conferencia; 2011 American Control Conference (ACC 2011); 2011
IEEE Control Systems Society (CSS)
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.