|Publisher DOI:||10.1109/IROS45743.2020.9341051||Title:||Towards micro robot hydrobatics: Vision-based guidance, navigation, and control for agile underwater vehicles in confined environments||Language:||English||Authors:||Dücker, Daniel-André
|Issue Date:||24-Oct-2020||Source:||IEEE/RSJ International Conference on Intelligent Robots and Systems (IROS 2020)||Abstract (english):||
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.
|Conference:||IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS 2020||URI:||http://hdl.handle.net/11420/10779||ISBN:||978-172816212-6||Institute:||Mechanik und Meerestechnik M-13||Document Type:||Chapter/Article (Proceedings)|
|Appears in Collections:||Publications without fulltext|
Show full item record
checked on Mar 22, 2023
checked on Jun 30, 2022
Add Files to Item
Note about this record
Cite this record
Items in TORE are protected by copyright, with all rights reserved, unless otherwise indicated.