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 ![]() Bauschmann, Nathalie ![]() Hansen, Tim Kreuzer, Edwin Seifried, Robert ![]() |
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 |
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