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.

Mots clés

Underwater vehicle Control Underwater vision Pipeline following

Domaines

Traitement du signal et de l'image [eess.SP] Automatique / Robotique

Fichier principal

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

Origine	Fichiers produits par l'(les) auteur(s)

Vincent Creuze : Connectez-vous pour contacter le contributeur

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

Soumis le : mardi 19 mai 2015-11:59:17

Dernière modification le : mercredi 18 décembre 2024-09:38:34

Archivage à long terme le : mardi 15 septembre 2015-06:09:45

Dates et versions

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

Identifiants

HAL Id : lirmm-01153185 , version 1

Citer

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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