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 AUV pipeline following by artificial vision Eduardo Campos Mercado 891365-0 Frédéric Comby 2b909e2b48e3d8cb0290a78a17fa23a0 lirmm.fr frederic-comby 6243 18278-6243 https://www.idref.fr/068902778 https://orcid.org/0000-0001-7157-4296 Vincent Creuze d48f5baf25dc69f1144334b53c0eba8b lirmm.fr vincent-creuze 6354 24590-6354 https://orcid.org/0000-0002-6813-8562 https://www.idref.fr/072466537 Jorge Antonio Torres Muñoz 6b3ed82eba9cc4f182b03f6065d05644 ctrl.cinvestav.mx 952039 1803732-952039 https://orcid.org/0000-0001-8759-4515 Elaba Dolores Antonio 917396-0 Olivier Strauss d9fc1ae8388b61129dfb963e0bdacf26 lirmm.fr olivier-strauss 21713 18279-21713 https://orcid.org/0000-0003-4485-772X https://www.idref.fr/068902891 Jesus Monroy Anieva 913077-0 Vincent Creuze d48f5baf25dc69f1144334b53c0eba8b lirmm.fr Projet PCP - CONACyT 2015-05-19 11:59:17 2025-09-27 19:27:34 2015-06-09 09:49:28 2015-04-28 2015-06-09 contributor Vincent Creuze d48f5baf25dc69f1144334b53c0eba8b lirmm.fr CCSD lirmm-01153185 https://hal-lirmm.ccsd.cnrs.fr/lirmm-01153185 camposmercado:lirmm-01153185 <i>CIRC: Congreso Internacional de Robótica y Computación</i>, Apr 2015, Los Cabos, B.C.S., Mexico. pp.251-256 CIRC: Congreso Internacional de Robótica y Computación, Apr 2015, Los Cabos, B.C.S., Mexico. pp.251-256 HAL Authorization HAL Grenoble Alpes CNRS - Centre national de la recherche scientifique Université Joseph Fourier - Grenoble I Université de Technologie de Compiègne Institut polytechnique de Grenoble Laboratoire d'Informatique de Robotique et de Microélectronique de Montpellier ICAR: Image & Interaction Réseau de recherche en Théorie des Systèmes Distribués, Modélisation, Analyse et Contrôle des Systèmes Mathématiques, Informatique, Physique et Systèmes Université de Montpellier Alliance Sorbonne Université Université de Montpellier (2015-2021) Water-Sea-Ocean Cross-Department Research Theme TEST-UGA International No No Yes Yes AUV pipeline following by artificial vision Eduardo Campos Mercado 891365-0 Frédéric Comby 2b909e2b48e3d8cb0290a78a17fa23a0 lirmm.fr frederic-comby 6243 18278-6243 https://www.idref.fr/068902778 https://orcid.org/0000-0001-7157-4296 Vincent Creuze d48f5baf25dc69f1144334b53c0eba8b lirmm.fr vincent-creuze 6354 24590-6354 https://orcid.org/0000-0002-6813-8562 https://www.idref.fr/072466537 Jorge Antonio Torres Muñoz 6b3ed82eba9cc4f182b03f6065d05644 ctrl.cinvestav.mx 952039 1803732-952039 https://orcid.org/0000-0001-8759-4515 Elaba Dolores Antonio 917396-0 Olivier Strauss d9fc1ae8388b61129dfb963e0bdacf26 lirmm.fr olivier-strauss 21713 18279-21713 https://orcid.org/0000-0003-4485-772X https://www.idref.fr/068902891 Jesus Monroy Anieva 913077-0 II Congreso Internacional de Robótica y Computación CIRC: Congreso Internacional de Robótica y Computación 2015-04-28 2015-04-30 Los Cabos, B.C.S. Mexico 251-256 2015-04-28 http://www.itlp.edu.mx/seccion.php?CONTENIDO=CIRC%202015&id=218 English Pipeline following Underwater vision Control Underwater vehicle Engineering Sciences [physics]/Signal and Image processing Engineering Sciences [physics]/Automatic Conference papers Conference papers Conference papers

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.

 Departamento de Control Automático CINVESTAV-IPN
Centro de Investigación y de Estudios Avanzados del IPN, Av. Instituto Politécnico Nacional No. 2508, Col San Pedro Zacatenco, C.P. 07360, México D. F.
http://www.ctrl.cinvestav.mx/ 233347437 200819358L Laboratoire Franco-Mexicain d'Informatique et d'Automatique LAFMIA 2008-01-01 2015-12-31
https://www.utc.fr/recherche/les-unites-de-recherche-de-lutc/laboratoire-franco-mexicain-dinformatique-et-dautomatique-lafmia-umi-3175/ Image & Interaction ICAR 2021-12-31
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