Real-time vision-based stationkeeping system for underwater robotics applications

L. Jin, X. Xu, Shahriar Negahdaripour, C. Tsukamoto, J. Yuh

Research output: Chapter in Book/Report/Conference proceedingConference contribution

16 Citations (Scopus)

Abstract

We describe a vision-based system for automatic ROV/AUV stationkeeping, based on an algorithm for computing the motion of a camera (and the vehicle) from the images of the ocean bottom. The vision module estimates the vehicle position (displacement from station) and feeds this information to the control system in order to generate the appropriate thruster signals. The current testing platform is a one-degree-of-freedom thruster system, submerged in a water tank and moving on a linear track. A PID controller has been used without any attempt to optimize transient response performance by choosing the best gains. The performance of the optical stationkeeping system is demonstrated in three selected experiments by comparing results with the data gathered from an optical encoder position sensor.

Original languageEnglish (US)
Title of host publicationOceans Conference Record (IEEE)
Editors Anon
PublisherIEEE
Pages1076-1081
Number of pages6
Volume3
StatePublished - 1996
EventProceedings of the 1996 MTS/IEEE Oceans Conference. Part 3 (of 3) - Fort Lauderdale, FL, USA
Duration: Sep 23 1996Sep 26 1996

Other

OtherProceedings of the 1996 MTS/IEEE Oceans Conference. Part 3 (of 3)
CityFort Lauderdale, FL, USA
Period9/23/969/26/96

Fingerprint

robotics
autonomous underwater vehicle
remotely operated vehicle
control system
seafloor
sensor
experiment
water
vehicle
freedom
station

ASJC Scopus subject areas

  • Oceanography

Cite this

Jin, L., Xu, X., Negahdaripour, S., Tsukamoto, C., & Yuh, J. (1996). Real-time vision-based stationkeeping system for underwater robotics applications. In Anon (Ed.), Oceans Conference Record (IEEE) (Vol. 3, pp. 1076-1081). IEEE.

Real-time vision-based stationkeeping system for underwater robotics applications. / Jin, L.; Xu, X.; Negahdaripour, Shahriar; Tsukamoto, C.; Yuh, J.

Oceans Conference Record (IEEE). ed. / Anon. Vol. 3 IEEE, 1996. p. 1076-1081.

Research output: Chapter in Book/Report/Conference proceedingConference contribution

Jin, L, Xu, X, Negahdaripour, S, Tsukamoto, C & Yuh, J 1996, Real-time vision-based stationkeeping system for underwater robotics applications. in Anon (ed.), Oceans Conference Record (IEEE). vol. 3, IEEE, pp. 1076-1081, Proceedings of the 1996 MTS/IEEE Oceans Conference. Part 3 (of 3), Fort Lauderdale, FL, USA, 9/23/96.
Jin L, Xu X, Negahdaripour S, Tsukamoto C, Yuh J. Real-time vision-based stationkeeping system for underwater robotics applications. In Anon, editor, Oceans Conference Record (IEEE). Vol. 3. IEEE. 1996. p. 1076-1081
Jin, L. ; Xu, X. ; Negahdaripour, Shahriar ; Tsukamoto, C. ; Yuh, J. / Real-time vision-based stationkeeping system for underwater robotics applications. Oceans Conference Record (IEEE). editor / Anon. Vol. 3 IEEE, 1996. pp. 1076-1081
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