کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
---|---|---|---|---|
699462 | 890769 | 2007 | 12 صفحه PDF | دانلود رایگان |
عنوان انگلیسی مقاله ISI
Vision-based ROV horizontal motion control: Near-seafloor experimental results
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کلمات کلیدی
موضوعات مرتبط
مهندسی و علوم پایه
سایر رشته های مهندسی
مهندسی هوافضا
پیش نمایش صفحه اول مقاله
چکیده انگلیسی
In this paper the problem of high-precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed. The proposed approach consists of the integration of a cheap monocular vision system for the estimate of the vehicle's linear motion with a conventional dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented, demonstrating the system capability in performing station-keeping in the presence of external disturbance and relatively high accuracy in horizontal motion control.
ناشر
Database: Elsevier - ScienceDirect (ساینس دایرکت)
Journal: Control Engineering Practice - Volume 15, Issue 6, June 2007, Pages 703–714
Journal: Control Engineering Practice - Volume 15, Issue 6, June 2007, Pages 703–714
نویسندگان
M. Caccia,