Article ID | Journal | Published Year | Pages | File Type |
---|---|---|---|---|
699462 | Control Engineering Practice | 2007 | 12 Pages |
Abstract
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.
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Authors
M. Caccia,