Abstract
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 language | English |
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| Pages (from-to) | 1257-1262 |
| Number of pages | 6 |
| Journal | Oceans Conference Record |
| Volume | 2 |
| Publication status | Published - 2000 |
| Event | Oceans 2000 - Providence, RI, USA Duration: 11 Sept 2000 → 14 Sept 2000 |