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Semi-autonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach

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3 Author(s)
Karras, G.C. ; Sch. of Mech. Eng., Nat. Tech. Univ. of Athens, Athens, Greece ; Loizou, S.G. ; Kyriakopoulos, K.J.

This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a human tele-operator the capability to move the vehicle without loosing a visual target from the vision system's optical field. Target tracking and vehicle pose are obtained using a laser vision system (LVS). Using a Lyapunov based switching controller design, the resulting controller has analytically guaranteed stability and convergence properties, while its applicability and performance have been experimentally verified using a small non-holonomic remotely operated vehicle (ROV), in a test tank.

Published in:

Control and Automation, 2009. MED '09. 17th Mediterranean Conference on

Date of Conference:

24-26 June 2009