Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

Detalhes bibliográficos
Autor(a) principal: Martins, Alfredo
Data de Publicação: 2007
Outros Autores: Almeida, José Miguel, Ferreira, Hugo, Silva, Hugo, Dias, Nuno, Silva, Eduardo
Tipo de documento: Artigo
Idioma: eng
Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
Texto Completo: http://hdl.handle.net/10400.22/6979
Resumo: This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.
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spelling Autonomous Surface Vehicle Docking Manoeuvre with Visual InformationKalman filtersAttitude controlMobile robotsMotion controlPosition controlRemotely operated vehiclesRobot visionUnderwater vehiclesThis work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.IEEERepositório Científico do Instituto Politécnico do PortoMartins, AlfredoAlmeida, José MiguelFerreira, HugoSilva, HugoDias, NunoSilva, Eduardo2015-11-23T11:14:27Z20072007-01-01T00:00:00Zinfo:eu-repo/semantics/publishedVersioninfo:eu-repo/semantics/articleapplication/pdfhttp://hdl.handle.net/10400.22/6979eng1-4244-0602-110.1109/ROBOT.2007.364249metadata only accessinfo:eu-repo/semantics/openAccessreponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informaçãoinstacron:RCAAP2023-03-13T12:47:18ZPortal AgregadorONG
dc.title.none.fl_str_mv Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
title Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
spellingShingle Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
Martins, Alfredo
Kalman filters
Attitude control
Mobile robots
Motion control
Position control
Remotely operated vehicles
Robot vision
Underwater vehicles
title_short Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
title_full Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
title_fullStr Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
title_full_unstemmed Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
title_sort Autonomous Surface Vehicle Docking Manoeuvre with Visual Information
author Martins, Alfredo
author_facet Martins, Alfredo
Almeida, José Miguel
Ferreira, Hugo
Silva, Hugo
Dias, Nuno
Silva, Eduardo
author_role author
author2 Almeida, José Miguel
Ferreira, Hugo
Silva, Hugo
Dias, Nuno
Silva, Eduardo
author2_role author
author
author
author
author
dc.contributor.none.fl_str_mv Repositório Científico do Instituto Politécnico do Porto
dc.contributor.author.fl_str_mv Martins, Alfredo
Almeida, José Miguel
Ferreira, Hugo
Silva, Hugo
Dias, Nuno
Silva, Eduardo
dc.subject.por.fl_str_mv Kalman filters
Attitude control
Mobile robots
Motion control
Position control
Remotely operated vehicles
Robot vision
Underwater vehicles
topic Kalman filters
Attitude control
Mobile robots
Motion control
Position control
Remotely operated vehicles
Robot vision
Underwater vehicles
description This work presents a hybrid coordinated manoeuvre for docking an autonomous surface vehicle with an autonomous underwater vehicle. The control manoeuvre uses visual information to estimate the AUV relative position and attitude in relation to the ASV and steers the ASV in order to dock with the AUV. The AUV is assumed to be at surface with only a small fraction of its volume visible. The system implemented in the autonomous surface vehicle ROAZ, developed by LSA-ISEP to perform missions in river environment, test autonomous AUV docking capabilities and multiple AUV/ASV coordinated missions is presented. Information from a low cost embedded robotics vision system (LSAVision), along with inertial navigation sensors is fused in an extended Kalman filter and used to determine AUV relative position and orientation to the surface vehicle The real time vision processing system is described and results are presented in operational scenario.
publishDate 2007
dc.date.none.fl_str_mv 2007
2007-01-01T00:00:00Z
2015-11-23T11:14:27Z
dc.type.status.fl_str_mv info:eu-repo/semantics/publishedVersion
dc.type.driver.fl_str_mv info:eu-repo/semantics/article
format article
status_str publishedVersion
dc.identifier.uri.fl_str_mv http://hdl.handle.net/10400.22/6979
url http://hdl.handle.net/10400.22/6979
dc.language.iso.fl_str_mv eng
language eng
dc.relation.none.fl_str_mv 1-4244-0602-1
10.1109/ROBOT.2007.364249
dc.rights.driver.fl_str_mv metadata only access
info:eu-repo/semantics/openAccess
rights_invalid_str_mv metadata only access
eu_rights_str_mv openAccess
dc.format.none.fl_str_mv application/pdf
dc.publisher.none.fl_str_mv IEEE
publisher.none.fl_str_mv IEEE
dc.source.none.fl_str_mv reponame:Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
instname:Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron:RCAAP
instname_str Agência para a Sociedade do Conhecimento (UMIC) - FCT - Sociedade da Informação
instacron_str RCAAP
institution RCAAP
reponame_str Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
collection Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
repository.name.fl_str_mv
repository.mail.fl_str_mv
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