Towards micro robot hydrobatics: Vision-based guidance, navigation, and control for agile underwater vehicles in confined environments

Publikationstyp
Conference Paper
Publikationsdatum
2020-10-24
Sprache
English
Author
Dücker, Daniel-André 
Bauschmann, Nathalie orcid-logo
Hansen, Tim 
Kreuzer, Edwin 
Seifried, Robert orcid-logo
Institut
Mechanik und Meerestechnik M-13 
TORE-URI
http://hdl.handle.net/11420/10779
Start Page
1819
End Page
1826
Article Number
9341051
Citation
IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)
Contribution to Conference
IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020 
Publisher DOI
10.1109/IROS45743.2020.9341051
Scopus ID
2-s2.0-85094610160
Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (μAUVs). Hereby, robust and accurate self-localization systems which fit μAUVs play a key role and their absence constitutes a severe bottleneck in micro underwater robotics research. In this work we present, first, a small-size low-cost high performance vision-based self-localization module which solves this bottleneck even for the requirements of highly agile robot platforms. Second, we present its integration into a powerful GNC-framework which allows the deployment of μAUVs in fully autonomous mission. Finally, we critically evaluate the performance of the localization system and the GNC-framework in two experimental scenarios.