کد مقاله | کد نشریه | سال انتشار | مقاله انگلیسی | نسخه تمام متن |
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716908 | 892230 | 2012 | 6 صفحه PDF | دانلود رایگان |

Alignment of underwater vehicles with respect to underwater structures is of utmost importance for many tasks performed in marine environments, specially for those requiring manipulation and, therefore, a specific and stable vehicle pose. These skills are crucial in the case of autonomous vehicles, where there is not a human in the loop in charge of tele-operating the vehicle to a suitable position and attitude with respect to the target. In this paper we apply 2D visual servoing techniques based on template tracking to the problem of autonomously reaching and keeping a vehicle pose relative to a target in a typical underwater intervention scenario. Assuming that the object of interest has been already detected, we develop a method that autonomously aligns the vehicle relative to it, and keeps the pose during the task. The method is validated, first in simulation, and then in a water tank with the Girona 500 vehicle
Journal: IFAC Proceedings Volumes - Volume 45, Issue 27, 2012, Pages 256-261