A homography-based dynamic control approach of Autonomous Underwater Vehicles observing a (near) vertical target without linear velocity measurements
Résumé
The paper addresses the challenging problem of image-based dynamic control of Autonomous Underwater Vehicles observing a (near) vertical planar target, without measuring the linear velocity. The proposed control approach exploits a minimum sensor suite consisting of a camera looking forward to provide images from which the homography matrix is extracted and an IMU providing angular velocity and gravity direction measurements. The dynamics of the AUV are exploited in a hierarchical control scheme with inner-outer control loop architecture. Rigourous stability analysis is established. The performance of the proposed approach is illustrated via simulation results conducted on a realistic AUV model.
Origine : Fichiers produits par l'(les) auteur(s)
Loading...