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

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

Vrsta, podvrsta i kategorija rada
Radovi u zbornicima skupova, cjeloviti rad (in extenso), znanstveni

Izvornik
Proceedings of the IEEE OCEANS'09 Conference / - Bremen, 2009, 1-6

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

Mjesto i datum
Bremen, Njemačka, 11.05.2009. - 14.05.2009

Vrsta sudjelovanja
Predavanje

Vrsta recenzije
Međunarodna recenzija

Ključne riječi
Underwater vehicles; Kalman filter; Distance keeping; Marine control

Sažetak
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.

Izvorni jezik
Engleski

Znanstvena područja
Elektrotehnika, Računarstvo, Temeljne tehničke znanosti

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