INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
A CAMERA-GUIDED CONTROLLER FOR PATH TRACKING OF AUTONOMOUS UNDERWATER VEHICLES
Autor/es:
BERGER, CARLOS; JORDAN, MARIO; BUSTAMANTE, JORGE; TRABES, EMANUEL
Lugar:
Buenos Aires, Argentina
Reunión:
Congreso; 24º Congreso Argentino de Control Automático (AADECA 2014); 2014
Institución organizadora:
Asociación Argentina de Control Automático (AADECA)
Resumen:
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 physical variables of 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 rapidly favorable configurations of the AUV and afterwards to pursue a perfect alignment with the line. Experiments of the real subaquatic world are presented
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