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.
Fichier principal
AUV pipeline following by artificial vision.pdf (520.09 Ko)
Télécharger le fichier
Origin | Files produced by the author(s) |
---|
Loading...