 |
HAL-LIRMM - Open Archive |  |
Conference papers
AUV pipeline following by artificial vision
Abstract : 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.
Cited literature [14 references]
https://hal-lirmm.ccsd.cnrs.fr/lirmm-01153185
Contributor : Vincent Creuze <>
Submitted on : Tuesday, May 19, 2015 - 11:59:17 AM
Last modification on : Sunday, June 2, 2019 - 7:02:09 AM
Document(s) archivé(s) le : Tuesday, September 15, 2015 - 6:09:45 AM
Contributor : Vincent Creuze <>
Submitted on : Tuesday, May 19, 2015 - 11:59:17 AM
Last modification on : Sunday, June 2, 2019 - 7:02:09 AM
Document(s) archivé(s) le : Tuesday, September 15, 2015 - 6:09:45 AM
File
AUV pipeline following by arti...
Files produced by the author(s)
