A 2-D visual servoing for underwater vehicle station keeping

J. F. Lots, D. M. Lane, E. Trucco, F. Chaumette

Research output: Chapter in Book/Report/Conference proceedingConference contribution

50 Citations (Scopus)

Abstract

This paper introduces a 2-D visual servoing technique for the station keeping of an unmanned underwater vehicle (UUV) with respect to planar targets on the sea bed. The underwater vehicle is subject to sea current disturbances which make it drift from its desired position. Feature points from unmarked objects are extracted and tracked with a sparse feature tracker developed in-house [1]. The scene depth is estimated from a planar homography. To validate our approach, we emulate the dynamics of the surge and the sway degrees-of-freedom (d.o.f.) of an UUV model with a planar Cartesian robot in our water test tank. Successful station keeping experiments obtained with a range of sea current disturbances are presented.

Original languageEnglish
Title of host publicationProceedings - IEEE International Conference on Robotics and Automation
Pages2767-2772
Number of pages6
Volume3
Publication statusPublished - 2001
Event2001 IEEE International Conference on Robotics and Automation - Seoul, Korea, Republic of
Duration: 21 May 200126 May 2001

Conference

Conference2001 IEEE International Conference on Robotics and Automation
CountryKorea, Republic of
CitySeoul
Period21/05/0126/05/01

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  • Cite this

    Lots, J. F., Lane, D. M., Trucco, E., & Chaumette, F. (2001). A 2-D visual servoing for underwater vehicle station keeping. In Proceedings - IEEE International Conference on Robotics and Automation (Vol. 3, pp. 2767-2772)