Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control
Joint Authors
Torres-Méndez, L. Abril
Pérez-Alcocer, Ricardo
Olguín-Díaz, Ernesto
Maldonado-Ramírez, A. Alejandro
Source
Issue
Vol. 2016, Issue 2016 (31 Dec. 2016), pp.1-16, 16 p.
Publisher
Hindawi Publishing Corporation
Publication Date
2016-07-18
Country of Publication
Egypt
No. of Pages
16
Main Subjects
Abstract EN
This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility.
In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace.
However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and/or color depleted.
To tackle this problem, we have adapted the l α β color space to identify features of interest in underwater images even in extreme visibility conditions.
To guarantee the stability of the vehicle at all times, a model-free robust control is used.
We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.
American Psychological Association (APA)
Pérez-Alcocer, Ricardo& Torres-Méndez, L. Abril& Olguín-Díaz, Ernesto& Maldonado-Ramírez, A. Alejandro. 2016. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control. Journal of Sensors،Vol. 2016, no. 2016, pp.1-16.
https://search.emarefa.net/detail/BIM-1110654
Modern Language Association (MLA)
Pérez-Alcocer, Ricardo…[et al.]. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control. Journal of Sensors No. 2016 (2016), pp.1-16.
https://search.emarefa.net/detail/BIM-1110654
American Medical Association (AMA)
Pérez-Alcocer, Ricardo& Torres-Méndez, L. Abril& Olguín-Díaz, Ernesto& Maldonado-Ramírez, A. Alejandro. Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control. Journal of Sensors. 2016. Vol. 2016, no. 2016, pp.1-16.
https://search.emarefa.net/detail/BIM-1110654
Data Type
Journal Articles
Language
English
Notes
Includes bibliographical references
Record ID
BIM-1110654