AUV pipeline following by artificial vision

This paper presents the modeling, sensing and control of an autonomous underwater vehicle (AUV) developed in order to perform pipeline following. The pipeline detection and the relative angular position of the vehicle with respect to the pipeline are obtained by an artificial vision algorithm. The Proportional-Derivative (PD) paradigm with gravity compensation is used for the control of the vehicle. An analysis of performances is presented on Real-time experiments.

Keywords

Underwater vehicle Control Underwater vision Pipeline following

Domains

Signal and Image processing Automatic

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AUV pipeline following by artificial vision.pdf (520.09 Ko)

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https://hal-lirmm.ccsd.cnrs.fr/lirmm-01153185

Submitted on : Tuesday, May 19, 2015-11:59:17 AM

Last modification on : Friday, October 6, 2023-4:40:04 PM

Long-term archiving on: Tuesday, September 15, 2015-6:09:45 AM

Dates and versions

lirmm-01153185 , version 1 (19-05-2015)

Identifiers

HAL Id : lirmm-01153185 , version 1

Cite

Eduardo Campos Mercado, Frédéric Comby, Vincent Creuze, Jorge Antonio Torres Muñoz, Elaba Dolores Antonio, et al.. AUV pipeline following by artificial vision. CIRC: Congreso Internacional de Robótica y Computación, Apr 2015, Los Cabos, B.C.S., Mexico. pp.251-256. ⟨lirmm-01153185⟩

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