Pipeline following by visual servoing for Autonomous Underwater Vehicles

Allibert, Guillaume; Hua, Minh‐Duc; Krupínski, Szymon; Hamel, Tarek

doi:10.1016/j.conengprac.2018.10.004

Cited by 53 publications

(22 citation statements)

References 26 publications

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“…Classical visual servo control techniques have been initially developed for robotic manipulators and mobile ground vehicles [13], [19] and then for aerial drones [8], [9], [27]. In underwater robotics, vision sensors have been used to perform station keeping or positioning [6], [7], [17], [29], docking [4], [18], [20], [30], and pipeline following [1], [2], [23], [28], etc.…”

Section: Introductionmentioning

confidence: 99%

A Homography-Based Dynamic Control Approach Applied to Station Keeping of Autonomous Underwater Vehicles Without Linear Velocity Measurements

Nguyen

Hua

Allibert

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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A homography-based dynamic control approach applied to station keeping of Autonomous Underwater Vehicles (AUVs) without relying on linear velocity measurements is proposed. The homography estimated from images of a planar target scene captured by a downward-looking camera is directly used as feedback information. The full dynamics of the AUV are exploited in a hierarchical control design with inner-outer loop architecture. Enhanced by integral compensation actions and disturbance torque estimation, the proposed controller is robust with respect to model uncertainties and unknown currents. The performance of the proposed control approach is illustrated via both comparative simulation results conducted on a realistic AUV model and experimental validations on an in-house AUV.

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Section: Introductionmentioning

confidence: 99%

A Homography-Based Dynamic Control Approach Applied to Station Keeping of Autonomous Underwater Vehicles Without Linear Velocity Measurements

Nguyen

Hua

Allibert

et al. 2021

IEEE Trans. Contr. Syst. Technol.

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“…There are various applications that require a vehicle to approach another vehicle and span from the marine [3][4][5], ground [6] and space [2,7,8] fields, and, in general, are managed in very different ways depending on the range of admissible initial conditions, on the solution approach, but also depending on the dynamics that describe the relative motion between the two bodies.…”

Section: Introductionmentioning

confidence: 99%

A Fuzzy Guidance System for Rendezvous and Pursuit of Moving Targets

2020

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This article presents the development of a fuzzy guidance system (FGS) for unmanned aerial vehicles capable of pursuing and performing rendezvous with static and mobile targets. The system is designed to allow the vehicle to approach a maneuvering target from a desired direction of arrival and to terminate the rendezvous at a constant distance from the target. In order to perform a rendezvous with a maneuvering target, the desired direction of arrival is adjusted over time to always approach the target from behind, so that the aircraft and target velocity vectors become aligned. The proposed guidance system assumes the presence of an autopilot and uses a set of Takagi–Sugeno fuzzy controllers to generate the orientation and speed references for the velocity and heading control loops, given the relative position and velocity between the aircraft and the target. The FGS treats the target as a mobile waypoint in a 4-D space (position in 2-dimensions, desired crossing heading and speed) and guides the aircraft on suitable trajectories towards the target. Only when the vehicle is close enough to the rendezvous point, the guidance law is complemented with an additional linear controller to manage the terminal formation keeping phase. The capabilities of the proposed rendezvous-FGS are verified in simulation on both maneuvering and non-maneuvering targets. Finally, experimental results using a multi-rotor aerial system are presented for both fixed and accelerating targets.

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“…Autonomous underwater vehicles have become more and more practical in many fields, such as civil and military, underwater monitoring, deep sea environmental resource exploration and development, ocean data observation and collection, seabed topographic scanning, submarine pipeline detection and marine mine clearance, etc. [1,2,3]. The completion of related tasks generally requires the AUV to follow an ideal path.…”

Section: Introductionmentioning

confidence: 99%

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

Zhang

Jian

et al. 2019

Sensors

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The three-dimensional (3D) path following problem of an underactuated autonomous underwater vehicle with ocean currents disturbances is addressed in this paper. Firstly, the motion equation under the ocean currents disturbance is established, and the dynamic model of 3D tracking error is constructed based on virtual guidance method. Then, a finite-time control scheme based on super-twisting observer and command filtered backstepping technology is proposed. We adopt super-twisting observer based on finite-time theory to observe the ocean currents disturbances for improving the system robust. A command filtered backstepping is proposed to replace the differential process in the conventional backstepping method for avoiding the differential expansion problem. The filter compensation loop is designed to ensure the accuracy of the filtered signal, and the anti-integration saturation link is designed considering the influence of integral saturation. Lyapunov stability theory is used to prove the stability of the underactuated AUV. Simulation studies are conducted to show the effectiveness and robustness of the controller.

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Pipeline following by visual servoing for Autonomous Underwater Vehicles

Cited by 53 publications

References 26 publications

A Homography-Based Dynamic Control Approach Applied to Station Keeping of Autonomous Underwater Vehicles Without Linear Velocity Measurements

A Homography-Based Dynamic Control Approach Applied to Station Keeping of Autonomous Underwater Vehicles Without Linear Velocity Measurements

A Fuzzy Guidance System for Rendezvous and Pursuit of Moving Targets

Underactuated AUV Nonlinear Finite-Time Tracking Control Based on Command Filter and Disturbance Observer

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