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

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  • HAL Id : lirmm-01153185, version 1

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Eduardo Campos Mercado, Frédéric Comby, Vincent Creuze, Jorge Torres Munoz, Elaba 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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