DocumentCode
2945401
Title
Experiments in Low Cost High Precision Motion Control for ROVs
Author
Caccia, M.
Author_Institution
CNR-ISSIA Sezione di Genova Via De Marini 6, 16149 Genova, Italy max@ian.ge.cnr.it
fYear
2005
fDate
18-22 April 2005
Firstpage
4667
Lastpage
4672
Abstract
The problem of low-cost high precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed in this paper. The proposed approach consists in the integration of a monocular vision system for the estimate of the vehicle’s linear motion with a dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented.
Keywords
Underwater vision; guidance and control; mobile robots; motion estimation; Control systems; Costs; Kinematics; Land vehicles; Marine vehicles; Motion control; Motion estimation; Navigation; Remotely operated vehicles; Road vehicles; Underwater vision; guidance and control; mobile robots; motion estimation;
fLanguage
English
Publisher
ieee
Conference_Titel
Robotics and Automation, 2005. ICRA 2005. Proceedings of the 2005 IEEE International Conference on
Print_ISBN
0-7803-8914-X
Type
conf
DOI
10.1109/ROBOT.2005.1570840
Filename
1570840
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