Semiautonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach

Karras, G; Loizou, S; Kyriakopoulos, K

dc.contributor.author	Karras, G	en
dc.contributor.author	Loizou, S	en
dc.contributor.author	Kyriakopoulos, K	en
dc.date.accessioned	2014-03-01T02:51:54Z
dc.date.available	2014-03-01T02:51:54Z
dc.date.issued	2009	en
dc.identifier.uri	https://dspace.lib.ntua.gr/xmlui/handle/123456789/35729
dc.subject	Controller Design	en
dc.subject	nonholonomic constraint	en
dc.subject	Remotely Operated Vehicle	en
dc.subject	Switching Control	en
dc.subject	Target Tracking	en
dc.subject	Underwater Vehicles	en
dc.subject	Vision System	en
dc.subject	Visual Servo Control	en
dc.subject	visual servoing	en
dc.title	Semiautonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach	en
heal.type	conferenceItem	en
heal.identifier.primary	10.1109/MED.2009.5164641	en
heal.identifier.secondary	http://dx.doi.org/10.1109/MED.2009.5164641	en
heal.publicationDate	2009	en
heal.abstract	This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS).	en
heal.journalName	Mediterranean Conference on Control and Automation	en
dc.identifier.doi	10.1109/MED.2009.5164641	en