Distance Keeping for Underwater Vehicles - Tuning Kalman Filters Using Self-Oscillations (CROSBI ID 551783)
Prilog sa skupa u zborniku | izvorni znanstveni rad | međunarodna recenzija
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