Title :
Region boundary-based control scheme for an underwater vehicle with an edge-based segmentation approach
Author_Institution :
Dept. of Mechatron. & Robot., Univ. Teknol. Malaysia, Skudai, Malaysia
Abstract :
In this paper, a novel point-to-point motion controller is proposed for an underwater vehicle. Within this control concept, an edge-based segmentation approach is utilized to facilitate the problem that is associated with the region boundary-based control technique. The stability of the presented control law is proven in the sense of Lyapunov. Simulations on a 6-DOF underwater vehicle are carried out to illustrate the performance of the proposed control scheme.
Keywords :
Lyapunov methods; autonomous underwater vehicles; computational geometry; motion control; stability; 6-DOF underwater vehicle; AUV; Lyapunov; autonomous underwater vehicles; control law; edge-based segmentation approach; point-to-point motion controller; region boundary-based control scheme; stability; Convergence; Equations; Mathematical model; Shape; Underwater vehicles; Vehicle dynamics; Vehicles;
Conference_Titel :
Robotics and Biomimetics (ROBIO), 2011 IEEE International Conference on
Conference_Location :
Karon Beach, Phuket
Print_ISBN :
978-1-4577-2136-6
DOI :
10.1109/ROBIO.2011.6181608
