Towards Micro Robot Hydrobatics: Vision-based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments
| Autor: | Robert Seifried, Edwin Kreuzer, Nathalie Bauschmann, Tim Hansen, Daniel A Duecker |
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| Rok vydání: | 2020 |
| Předmět: |
0209 industrial biotechnology
Guidance navigation and control 010308 nuclear & particles physics business.industry Computer science Location awareness 02 engineering and technology computer.software_genre Underwater robotics 01 natural sciences 020901 industrial engineering & automation 0103 physical sciences Systems engineering Robot Underwater business computer Agile software development |
| Zdroj: | IROS |
| Popis: | Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (µAUVs). Hereby, robust and accurate self-localization systems which fit µAUVs play a key role and their absence constitutes a severe bottleneck in micro underwater robotics research. In this work we present, first, a small-size low-cost high performance vision-based self-localization module which solves this bottleneck even for the requirements of highly agile robot platforms. Second, we present its integration into a powerful GNC-framework which allows the deployment of µAUVs in fully autonomous mission. Finally, we critically evaluate the performance of the localization system and the GNC-framework in two experimental scenarios. |
| Databáze: | OpenAIRE |
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