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Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

2007Journal article Restricted access
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dc.contributor.authorMartins, Alfredo
dc.contributor.authorAlmeida, José Miguel
dc.contributor.authorFerreira, Hugo
dc.contributor.authorSilva, Hugo
dc.contributor.authorDias, Nuno
dc.contributor.authorSilva, Eduardo
dc.date.accessioned2015-11-23T11:14:27Z
dc.date.available2015-11-23T11:14:27Z
dc.date.issued2007
dc.description.abstractThis 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.pt_PT
dc.identifier.doi10.1109/ROBOT.2007.364249pt_PT
dc.identifier.isbn1-4244-0602-1
dc.identifier.urihttp://hdl.handle.net/10400.22/6979
dc.language.isoengpt_PT
dc.publisherIEEEpt_PT
dc.relation.ispartofseriesRobotics and Automation;2007
dc.relation.publisherversionhttp://ieeexplore.ieee.org/xpl/articleDetails.jsp?arnumber=4209867pt_PT
dc.subjectKalman filterspt_PT
dc.subjectAttitude controlpt_PT
dc.subjectMobile robotspt_PT
dc.subjectMotion controlpt_PT
dc.subjectPosition controlpt_PT
dc.subjectRemotely operated vehiclespt_PT
dc.subjectRobot visionpt_PT
dc.subjectUnderwater vehiclespt_PT
dc.titleAutonomous Surface Vehicle Docking Manoeuvre with Visual Informationpt_PT
dc.typejournal article
dspace.entity.typePublication
oaire.citation.endPage4999pt_PT
oaire.citation.startPage4994pt_PT
oaire.citation.titleRobotics and Automation, 2007 IEEE International Conference onpt_PT
person.familyNameMartins
person.familyNameSilva
person.givenNameAlfredo
person.givenNameEduardo
person.identifier.ciencia-id341E-9000-B513
person.identifier.ciencia-idC517-23DA-B09F
person.identifier.orcid0000-0003-3195-5638
person.identifier.orcid0000-0001-7166-3459
person.identifier.ridM-7929-2014
person.identifier.scopus-author-id56234856000
person.identifier.scopus-author-id6507130721
rcaap.rightsclosedAccesspt_PT
rcaap.typearticlept_PT
relation.isAuthorOfPublicationdf7c1e03-5c55-4a79-916a-1ec6d4a63b41
relation.isAuthorOfPublicationd0912771-16c3-4f41-a936-79a714e984fb
relation.isAuthorOfPublication.latestForDiscoveryd0912771-16c3-4f41-a936-79a714e984fb

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