IEEE - Institute of Electrical and Electronics Engineers, Inc. - Semi-autonomous teleoperation of a non-holonomic underwater vehicle using a Laser Vision System: A visual-servoing switching control approach

2009 17th Mediterranean Conference on Control and Automation (MED)

Author(s): Karras, G.C. ; Loizou, S.G. ; Kyriakopoulos, K.J.
Publisher: IEEE - Institute of Electrical and Electronics Engineers, Inc.
Publication Date: 1 June 2009
Conference Location: Thessaloniki, Greece, Greece
Conference Date: 24 June 2009
Page(s): 797 - 802
ISBN (CD): 978-1-4244-4685-8
ISBN (Paper): 978-1-4244-4684-1
DOI: 10.1109/MED.2009.5164641
Regular:

This paper describes a switching visual servoing control scheme designed for an underwater vehicle with nonholonomic constraints. The objective of the proposed control methodology is to provide a... View More

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