Development of Autonomous Underwater Vehicle towards Visual Servo Control
Conference Paper, Proceedings of Australian Conference on Robotics and Automation (ACRA '00), pp. 105 - 110, August, 2000
Abstract
We are developing a visually-guided autonomous underwater vehicle. We have implemented a computed torque controller, using Euler parameters, for position and velocity control. This formulation eliminates singularity in the model and controller and offers some degrees of coupling between vehicle degrees of freedom. A calibrated thruster model which computes thrust output from measured voltage and current, provides input to the thrust controller . We are now adding the vision into the system for visually-servoed guidance.
BibTeX
@conference{Silpa-Anan-2000-120420,author = {C, Silpa-Anan and S. Abdallah and D. Wettergreen},
title = {Development of Autonomous Underwater Vehicle towards Visual Servo Control},
booktitle = {Proceedings of Australian Conference on Robotics and Automation (ACRA '00)},
year = {2000},
month = {August},
pages = {105 - 110},
}
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