Towards semi-autonomous operation of under-actuated underwater vehicles: sensor fusion, on-line identification and visual servo control

Karras, GC; Loizou, SG; Kyriakopoulos, KJ

dc.contributor.author	Karras, GC	en
dc.contributor.author	Loizou, SG	en
dc.contributor.author	Kyriakopoulos, KJ	en
dc.date.accessioned	2014-03-01T01:37:29Z
dc.date.available	2014-03-01T01:37:29Z
dc.date.issued	2011	en
dc.identifier.issn	0929-5593	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/21522
dc.subject	Sensor fusion	en
dc.subject	Parameter estimation	en
dc.subject	Visual servoing	en
dc.subject	Underwater vehicle	en
dc.subject	Under-actuation	en
dc.subject.classification	Computer Science, Artificial Intelligence	en
dc.subject.classification	Robotics	en
dc.subject.other	MODELS	en
dc.title	Towards semi-autonomous operation of under-actuated underwater vehicles: sensor fusion, on-line identification and visual servo control	en
heal.type	journalArticle	en
heal.identifier.primary	10.1007/s10514-011-9231-6	en
heal.identifier.secondary	http://dx.doi.org/10.1007/s10514-011-9231-6	en
heal.language	English	en
heal.publicationDate	2011	en
heal.abstract	In this paper we propose a framework for semi-autonomous operation of an under-actuated underwater vehicle. The contributions of this paper are twofold: The first contribution is a visual servoing control scheme that is designed to provide a human operator the capability to steer the vehicle without loosing the target from the vision system's field of view. It is shown that the under-actuated degree of freedom is input-to-state stable (ISS) and a shaping of the user input with stability guarantees is implemented. The resulting control scheme has formally guaranteed stability and convergence properties. The second contribution is an asynchronous Modified Dual Unscented Kalman Filter (MDUKF) for the on-line state and parameter estimation of the vehicle by fusing data from a Laser Vision System (LVS) and an Inertial Measurement Unit (IMU). The MDUKF has been developed in order to experimentally verify the performance of the proposed visual servoing control scheme. Experimental results of the visual servoing control scheme integrated with the asynchronous MDUKF indicate the feasibility and applicability of the proposed con-trol scheme. Experiments have been carried out on a small under-actuated Remotely Operated Vehicle (ROV) in a test tank.	en
heal.publisher	SPRINGER	en
heal.journalName	AUTONOMOUS ROBOTS	en
dc.identifier.doi	10.1007/s10514-011-9231-6	en
dc.identifier.isi	ISI:000294787000004	en
dc.identifier.volume	31	en
dc.identifier.issue	1	en
dc.identifier.spage	67	en
dc.identifier.epage	86	en