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Conference Papers Year : 2015

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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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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