Vision-based ROV horizontal motion control: Near-seafloor experimental results

Control Engineering Practice

Volumn 15, Issue 6, 2007, Pages 703-714

  Caccia, M ^a  

^a CNR   (Italy)

Author keywords

Guidance and control; Mobile robots; Motion estimation; Underwater vision

Indexed keywords

KINEMATICS; MOBILE ROBOTS; MOTION ESTIMATION; UNDERWATER VISIBILITY;

CONVENTINAL DUAL-LOOP HIERARCHICAL ARCHITECTURE; HORIZONTAL MOTION CONTROL;

REMOTELY OPERATED VEHICLES;

KINEMATICS; MOBILE ROBOTS; MOTION ESTIMATION; REMOTELY OPERATED VEHICLES; UNDERWATER VISIBILITY;

EID: 33847386292     PISSN: 09670661     EISSN: None     Source Type: Journal    
DOI: 10.1016/j.conengprac.2006.05.008     Document Type: Article

References (32)

1. Antonelli G., Chiaverini S., Sarkar N., and West M. Adaptive control of an autonomous underwater vehicle: Experimental results on ODIN. IEEE Transactions on Control Systems Technology 9 5 (2001) 756-765
2. Åstrom K.J., and Wittenmark B.W. Adaptive control (1989), Addison-Wesley Publishing Company, USA
3. Caccia, M. (2003a). Pitch and roll disturbance rejection in vision-based linear speed estimation for UUVs. In Proceedings of MCMC 2003 (pp. 313-318).
4. Caccia, M. (2003b). Vision-based linear motion estimation for unmanned underwater vehicles. In Proceedings of ICRA 2003 (Vol. 1, pp. 977-982).
5. Caccia, M. (2005). Experiments in low cost high precision motion control for ROVs. In Proceedings of ICRA 2005.
6. Caccia M., Bono R., Bruzzone G., and Veruggio G. Unmanned underwater vehicles for scientific applications and robotics research: The ROMEO project. Marine Technology Society Journal 24 2 (2000) 3-17
7. Caccia M., Indiveri G., and Veruggio G. Modelling and identification of open-frame variable configuration unmanned underwater vehicles. IEEE Journal of Oceanic Engineering 25 2 (2000) 227-240
8. Caccia M., and Veruggio G. Guidance and control of a reconfigurable unmanned underwater vehicle. Control Engineering Practice 8 1 (2000) 21-37
9. Clark J., Wallace A.K., and Pronzato G.L. Measuring range using a triangulation sensor with variable geometry. IEEE Transactions on Robotics and Automation 14 1 (1998) 60-68
10. Fossen T.I. Guidance and control of ocean vehicles (1994), Wiley, England
11. Fossen, T. I., & Sagatun, S. I. (1991). Adaptive control of nonlinear underwater robotic systems. In Proceedings of IEEE conference on robotics and automation (pp. 1687-1695).
12. Gracias N.R., Van der Zwaan S., Bernardino A., and Santos-Victor J. Mosaic-based navigation for autonomous underwater vehicles. IEEE Journal of Oceanic Engineering 28 4 (2003) 609-624
13. Khalil H.K. Nonlinear systems (1996), Prentice-Hall, Englewood Cliffs, NJ
14. Kinsey, J. C., & Whitcomb, L. L. (2003). Preliminary field experience with the DVLNAV integrated navigation system for manned and unmanned submersibles. In Proceedings of first IFAC workshop on guidance and control of underwater vehicles, Newport, UK (pp. 83-88).
15. Kinsey J.C., and Whitcomb L.L. Preliminary field experience with the DVLNAV integrated navigation system for oceanographic submersibles. Control Engineering Practice 12 12 (2004) 1541-1549
16. Kondo H., and Ura T. Navigation of an AUV for investigation of underwater structures. Control Engineering Practice 12 12 (2004) 1551-1559
17. Leabourne, K. N., Rock, S. M., Fleischer, S. D., & Burton, R. (1997). Station keeping of an ROV using vision technology. In Proceedings of oceans'97 (Vol. 1, pp. 634-640).
18. Marco D.B., and Healey A.J. Command, control, and navigation experimental results with the NPS ARIES AUV. IEEE Journal of Oceanic Engineering 26 4 (2001) 466-476
19. Marks R.L., Rock S.M., and Lee M.J. Real-time video mosaicking of the ocean floor. IEEE Journal of Oceanic Engineering 20 3 (1995) 229-241
20. Marks, R. L., Wang, H. H., Lee, M. J., & Rock, S. M. (1994). Automatic visual station keeping of an underwater robot. In Proceedings of OCEANS '94 (Vol. 2, pp. 137-142).
21. Marques, L., Nunes, U., & de Almeida, A. T. (1998). A new 3d optical triangulation sensor for robotics. In Proceedings of fifth international workshop on advanced motion control (pp. 512-517).
22. Misu T., Hashimoto T., and Ninomiya K. Optical guidance for autonomous landing of spacecraft. IEEE Transactions on Aerospace and Electronic Systems 35 2 (1999) 459-473
23. Negahdaripour S. Revised definition of optical flow: Integration of radiometric and geometric cues for dynamic scene analysis. IEEE Transactions on Pattern Analysis and Machine Intelligence 20 9 (1998) 961-979
24. Negahdaripour S., and Xu X. Mosaic-based positioning and improved motion-estimation methods for automatic navigation of submersible vehicles. IEEE Journal of Oceanic Engineering 27 1 (2002) 79-99
25. Negahdaripour S., Xu X., and Jin L. Direct estimation of motion from seafloor images for automatic station keeping of submersible platforms. IEEE Journal of Oceanic Engineering 24 3 (1999) 370-382
26. Silvestre, C., Aguiar, A., Oliveira, P., & Pascoal, A. (1998). Control of the SIRENE underwater shuttle: System design and tests at sea. In Proceedings of the 17th international conference on offshore mechanics and arctic engineering, Lisbon, Portugal.
27. Smalwood D.A., and Whitcomb L.L. Model-based dynamic positioning of underwater robotic vehicles: Theory and experiment. IEEE Journal of Oceanic Engineering 29 1 (2004) 169-186
28. Whitcomb, L., Yoerger, D., Singh, H., & Howland, J. (1999). Advances in underwater robot vehicles for deep ocean exploration: Navigation, control, and survey operations. In Proceedings of the ninth international symposium of robotics research, Snowbird, USA.
29. Xu, X., & Negahdaripour, S. (1999). Automatic optical station keeping and navigation of an ROV; sea trial experiments. In Proceedings of OCEANS '99 (Vol. 1, pp. 71-76).
30. Yoerger D.R., and Slotine J.E. Robust trajectory control of underwater vehicles. IEEE Journal of Oceanic Engineering 10 4 (1985) 462-470
31. Yoerger, D. R., & Slotine, J. E. (1991). Adaptive sliding control of an experimental underwater vehicle. In Proceedings of IEEE international conference on robotics and automation (pp. 2746-2751).
32. Yuh J. Modelling and control of underwater robotic vehicles. IEEE Transactions on Systems, Man and Cybernetics 20 6 (1990) 1475-1483