The visual servoing system "CYCLOPE" designed for dynamic stabilisation of AUV and ROV

Author

Perrier, M.

Author_Institution

Underwater Syst. Dept., Ifremer Mediterranean Center, La Seyne sur mer, France

Volume

1

fYear

2005

fDate

20-23 June 2005

Firstpage

334

Abstract

The paper presents the CYCLOPE control system designed and developed by Ifremer for the dynamic stabilisation of unmanned underwater vehicles (UUVs), thanks to visual servoing. The CYCLOPE system has been designed because optical stabilisation is the more suitable solution for controlling both UUV motion and stability when performing small motions. The CYCLOPE system is a complete hardware and software system designed to be installed on-board an AUV or to be connected to an ROV surface control station, in order to perform autonomous station-keeping task. The CYCLOPE system software is based on the OPTIC/spl I.bar/DP Software/sup /spl reg// developed by Ifremer; it is used to perform the video image processing and the control computation. Prior to control computation, CYCLOPE fuses the calculated and measured visual information with the navigation data provided by the various sensors fitting the underwater vehicle.

Keywords

image processing; mechanical stability; position control; remotely operated vehicles; underwater vehicles; AUV dynamic stabilisation; CYCLOPE control system; OPTIC/spl I.bar/DP Software/spl reg/; ROV dynamic stabilisation; UUV dynamic stabilisation; hardware system; navigation data; optical stabilisation; sensors; unmanned underwater vehicles; video image processing; visual information; visual servoing system; Control systems; Motion control; Optical control; Optical design; Optical sensors; Remotely operated vehicles; Stability; Underwater vehicles; Vehicle dynamics; Visual servoing;

fLanguage

English

Publisher

ieee

Conference_Titel

Oceans 2005 - Europe

Conference_Location

Brest, France

Print_ISBN

0-7803-9103-9

Type

conf

DOI

10.1109/OCEANSE.2005.1511736

Filename

1511736