Application of 2 1/2 D visual servoing to underwater vehicle station-keeping

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

Research output: Contribution to journalArticlepeer-review

31 Citations (Scopus)


This paper describes a method to station keep an underwater vehicle with respect to a fixed planar target, using a single on-board video camera. The method used is a modification of the 2 1/2 D visual servoing technique introduced by Malis and Chaumette, that takes into account the restrictive controllability of the vehicle due to its thrusters' configuration. The scheme has been applied to a six degree-of-freedom (d.o.f) nonlinear dynamic model of the work class ROV ANGUS 003, whose hydrodynamic parameters were experimentally derived. Simulation results of successful station-keeping tasks in the presence of sea current are shown, as well as preliminary experimental results in a test tank on a Cartesian robot emulating two d.o.f of the ANGUS model.

Original languageEnglish
Pages (from-to)1257-1262
Number of pages6
JournalOceans Conference Record
Publication statusPublished - 2000
EventOceans 2000 - Providence, RI, USA
Duration: 11 Sept 200014 Sept 2000


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