JORDAN Mario Alberto
congresos y reuniones científicas
Autonomous Teleoperation of Underwater Vehicles with External Camera
JORDÁN, MARIO ALBERTO; DOMINI, SEBASTIAN; MAINETTI, CARLOS; ORSI, JORGE V.
San Juan, Argentina
Congreso; 3rd International Symposium on Multibody Systems and Mechatronics (MUSME 2008); 2008
Instituto de Mecánica Aplicada de la Facultad de Ingenieria de la Universidad Nacional de San Juan
A real-time vision-based approach for path tracking of 3D motion of vehicles in a bounded enclosure by means of an external camera is presented. An image-oriented topological model of the vehicle and a metric space for flying paths are developed. Afterward a logic-based mechanism with uncertain reasoning in discrete time is designed for on-line telecontrol of the vehicle in a bounded region of vision. A series of experiments with a CAD simulator and a lab prototype illustrate the features of this approach.