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Vision-Based Control for an AUV in a Multi-robot Undersea Intervention Task

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ROBOT 2017: Third Iberian Robotics Conference (ROBOT 2017)

Part of the book series: Advances in Intelligent Systems and Computing ((AISC,volume 693))

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Abstract

This paper presents a novel vision-based framework for controlling an Autonomous Underwater Vehicle (AUV). In our application, this AUV is in charge of providing an alternative point of view of a predefined target during a multi-robot intervention mission, where two vehicles cooperate in order to perform the required task. Given this scenario, our framework is based on two main modules: on the one hand, a target detection and tracking module is used to determine the position of the target in the scene; on the other hand, a visual servoing module generates the required velocities for controlling the platform according to the estimated position of the target in the image plane. Results for a set of experiments in different environments are reported and discussed.

This work was mainly supported by the Spanish project MERBOTS, subproject SUPERION (MINECO DPI2014-57746-C3-2-R).

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Author information

Authors and Affiliations

  1. Department of Mathematics and Computer Science, University of the Balearic Islands, Cra. Valldemossa km 7.5, 07122, Palma, Spain

    Emilio Garcia-Fidalgo, Alberto Ortiz & Miquel Massot-Campos

Authors
  1. Emilio Garcia-Fidalgo
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  2. Alberto Ortiz
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  3. Miquel Massot-Campos
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Corresponding author

Correspondence to Emilio Garcia-Fidalgo .

Editor information

Editors and Affiliations

  1. Escuela Técnica Superior de Ingeniería, Universidad de Sevilla, Sevilla, Spain

    Anibal Ollero

  2. Institut de Robòtica I Informàtica Industrial (CSIC-UPC), Universitat Politècnica de Catalunya, Barcelona, Spain

    Alberto Sanfeliu

  3. Departamento de Informática e Ingeniería de Sistemas, Escuela de Ingeniería y Arquitectura, Instituto de Investigación en Ingeniería de Aragón, Zaragoza, Spain

    Luis Montano

  4. Institute of Electronics and Telematics Engineering of Aveiro (IEETA), Universidade de Aveiro, Aveiro, Portugal

    Nuno Lau

  5. IDMEC, Instituto Superior Técnico de Lisboa, Universidade de Lisboa, Lisbon, Portugal

    Carlos Cardeira

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Garcia-Fidalgo, E., Ortiz, A., Massot-Campos, M. (2018). Vision-Based Control for an AUV in a Multi-robot Undersea Intervention Task. In: Ollero, A., Sanfeliu, A., Montano, L., Lau, N., Cardeira, C. (eds) ROBOT 2017: Third Iberian Robotics Conference. ROBOT 2017. Advances in Intelligent Systems and Computing, vol 693. Springer, Cham. https://doi.org/10.1007/978-3-319-70833-1_4

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  • DOI: https://doi.org/10.1007/978-3-319-70833-1_4

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  • Publisher Name: Springer, Cham

  • Print ISBN: 978-3-319-70832-4

  • Online ISBN: 978-3-319-70833-1

  • eBook Packages: EngineeringEngineering (R0)

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