Autonomous Surface Vehicle Docking Manoeuvre with Visual Information

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....

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Detalhes bibliográficos
Autor principal: Martins, Alfredo (author)
Outros Autores: Almeida, José Miguel (author), Ferreira, Hugo (author), Silva, Hugo (author), Dias, Nuno (author), Silva, Eduardo (author)
Formato: article
Idioma:eng
Publicado em: 2015
Assuntos:
Kalman filters
Attitude control
Mobile robots
Motion control
Position control
Remotely operated vehicles
Robot vision
Underwater vehicles
Texto completo:http://hdl.handle.net/10400.22/6979
País:Portugal
Oai:oai:recipp.ipp.pt:10400.22/6979

Texto Completo

http://hdl.handle.net/10400.22/6979

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