Utilize este identificador para referenciar este registo: http://hdl.handle.net/10400.22/6979
Título: Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
Autor: Martins, Alfredo
Almeida, José Miguel
Ferreira, Hugo
Silva, Hugo
Dias, Nuno
Silva, Eduardo
Palavras-chave: Kalman filters
Attitude control
Mobile robots
Motion control
Position control
Remotely operated vehicles
Robot vision
Underwater vehicles
Data: 2007
Editora: IEEE
Relatório da Série N.º: Robotics and Automation;2007
Resumo: This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.
URI: http://hdl.handle.net/10400.22/6979
DOI: 10.1109/ROBOT.2007.364249
ISBN: 1-4244-0602-1
Versão do Editor: http://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4209867
Aparece nas colecções:ISEP – LSA – Artigos

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