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Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations (CROSBI ID 551783)

Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija

Mišković, Nikola ; Vukić, Zoran ; Petrović, Ivan ; Barišić, Matko Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations // Proceedings of the IEEE OCEANS'09 Conference. Bremen, 2009. str. 1-6

Podaci o odgovornosti

Mišković, Nikola ; Vukić, Zoran ; Petrović, Ivan ; Barišić, Matko

engleski

Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations

This paper describes the use of Kalman filtering in distance keeping for underwater vehicles. The vision-based distance keeping module has been mounted on a micro-ROV equipped with a camera. Distance from a plane-like obstacle is determined on the basis of the laser dot projections within the frame. Since these measurements are not reliable a Kalman filter is designed - unknown dynamic model parameters are determined using the self- oscillation experiments which prove to be simple and time preserving. Finally, an I-PD controller is designed based on the Kalman filter estimates. The main task of the controller is to keep the vehicle perpendicular to the surface at a desired distance.

Underwater vehicles; Kalman filter; Distance keeping; Marine control

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Podaci o prilogu

1-6.

2009.

objavljeno

Podaci o matičnoj publikaciji

Proceedings of the IEEE OCEANS'09 Conference

Bremen:

Podaci o skupu

OCEANS ´09 IEEE Bremen: "Balancing technology with future needs"

predavanje

11.05.2009-14.05.2009

Bremen, Njemačka

Povezanost rada

Elektrotehnika, Računarstvo, Temeljne tehničke znanosti