INVESTIGADORES
JORDAN Mario Alberto
congresos y reuniones científicas
Título:
Performance Comparison in Vision-Based Teleoperation of Subaquatic Vehicles - A Simulated Case Study
Autor/es:
JORDAN, MARIO; BERGER, C.; DONINI, S.; ORSSI, J.
Lugar:
Bahía Blanca, RA
Reunión:
Congreso; Jornadas Argentinas de Robótica (JAR’08); 2008
Institución organizadora:
Dto. Ing. Eléctrica y de Computadoras, Univ. Nac. del Sur
Resumen:
In this work, a study on vision-based teleoperation of underwater vehicles is presented. Two approaches are evaluated separately, namely: image motion coming from metric and motion perceptions upon external camera on one side, and, on the other side, upon egomotion with on-board camera. Based on simulation experiments under similar border conditions of the tracking problem, both approaches are compared. Human control is emulated with a visual interface and joystick connection, performing real-time control and animation. The paper is illustrated with a case study employing a controlled ROV with an intern high-performance controller navigating per teleoperation in a enclosure with regular two-dimensional texture.
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