In this paper the problem of high-precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed. The proposed approach consists of the integration of a cheap monocular vision system for the estimate of the vehicle's linear motion with a conventional dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented, demonstrating the system capability in performing station- keeping in the presence of external disturbance and relatively high accuracy in horizontal motion control.
Vision-based ROV horizontal motion control: Near-seafloor experimental results
M Caccia
2007
Abstract
In this paper the problem of high-precision motion control of remotely operated vehicles (ROVs) in the proximity of the seabed through vision-based motion estimation is addressed. The proposed approach consists of the integration of a cheap monocular vision system for the estimate of the vehicle's linear motion with a conventional dual-loop hierarchical architecture for kinematics and dynamics control. Results obtained by operating at sea the Romeo ROV are presented, demonstrating the system capability in performing station- keeping in the presence of external disturbance and relatively high accuracy in horizontal motion control.File in questo prodotto:
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