Name
Title | ||
|---|---|---|
Autonomous Navigation for Adaptive Unmanned Underwater Vehicles Using Fiducial Markers |
Abstract | ||
|---|---|---|
This paper presents an integrated methodology and experimental validation of an autonomous framework for unmanned underwater vehicles (UUVs) merely equipped with a conventional monocular camera and a pressure sensor to accomplish high-performance autonomy. Optimal pose of the UUV is solved iteratively by Levenburg-Marquardt optimization for the Perspective-n-Point (PnP) problem. To guarantee a consistent localization system, a properly-tuned EKF with extra outlier removal approaches including applying Chi-square tests of innovations adequately removes measurement noises, meanwhile provides unknown navigation state estimations. A classic adaptive controller is developed to enable autonomous mobility. Real-time experiments are designed to demonstrate underwater autonomous performance with a miniature commercial UUV, BlueROV2 Heavy. |
Year | DOI | Venue |
|---|---|---|
2021 | 10.1109/ICRA48506.2021.9561419 | 2021 IEEE INTERNATIONAL CONFERENCE ON ROBOTICS AND AUTOMATION (ICRA 2021) |
DocType | Volume | Issue |
Conference | 2021 | 1 |
ISSN | Citations | PageRank |
1050-4729 | 0 | 0.34 |
References | Authors | |
0 | 3 | |
Name | Order | Citations | PageRank |
|---|---|---|---|
| Juan Chen | 1 | 0 | 0.34 |
| Caiming Sun | 2 | 0 | 4.06 |
| Aidong Zhang | 3 | 2970 | 405.63 |