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Communication Dans Un Congrès Année : 2015

Pool testing of AUV visual servoing for autonomous inspection

Résumé

Servoing methods were developed to enable inspection of underwater structures by autonomous vehicles in industrial oil & gas context. Pipeline following and planar object tracking were targeted, using video camera as the principal sensor. A non-linear inner-loop control was used to stabilise the complex dynamics of the vehicle. Pipeline following and planar target tracking were successfully tested in October and November 2014 on Girona 500 vehicle in a simple pool mock-up environment.
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Dates et versions

hal-01230498 , version 1 (18-11-2015)

Identifiants

Citer

Szymon Krupinski, Remi Desouche, Narcis Palomeras, Guillaume Allibert, Minh-Duc Hua. Pool testing of AUV visual servoing for autonomous inspection. 4th IFAC Workshop onNavigation, Guidance and Control of Underwater Vehicles, Apr 2015, Girona, Spain. ⟨10.1016/j.ifacol.2015.06.045⟩. ⟨hal-01230498⟩
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