TY - GEN
T1 - A robust sonar servo control scheme for wall-following using an autonomous underwater vehicle
AU - Karras, George C.
AU - Bechlioulis, Charalampos P.
AU - Abdella, Hashim Kemal
AU - Larkworthy, Tom
AU - Kyriakopoulos, Kostas
AU - Lane, David
PY - 2013
Y1 - 2013
N2 - This paper describes the design and implementation of a model-based sonar servoing control scheme for Autonomous Underwater Vehicles (AUVs). The proposed controller is designed for autonomous surveillance of underwater structures and it is robust against external disturbances and parametric uncertainties in the AUV dynamic model. The sensor suite includes a Multi-beam Imaging Sonar which provides measurements to a RANSAC-based algorithm for structure detection and pose estimation of the vehicle with respect to the structure. The sonar-based pose estimation is properly fused with the rest of the state measurements provided by a navigation module and the resulted state vector is incorporated as feedback to the controller. The proposed control scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are experimentally verified using the Nessie VI AUV in the presence of external disturbances (medium height waves).
AB - This paper describes the design and implementation of a model-based sonar servoing control scheme for Autonomous Underwater Vehicles (AUVs). The proposed controller is designed for autonomous surveillance of underwater structures and it is robust against external disturbances and parametric uncertainties in the AUV dynamic model. The sensor suite includes a Multi-beam Imaging Sonar which provides measurements to a RANSAC-based algorithm for structure detection and pose estimation of the vehicle with respect to the structure. The sonar-based pose estimation is properly fused with the rest of the state measurements provided by a navigation module and the resulted state vector is incorporated as feedback to the controller. The proposed control scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are experimentally verified using the Nessie VI AUV in the presence of external disturbances (medium height waves).
UR - http://www.scopus.com/inward/record.url?scp=84893714129&partnerID=8YFLogxK
UR - http://www.scopus.com/inward/citedby.url?scp=84893714129&partnerID=8YFLogxK
U2 - 10.1109/IROS.2013.6696913
DO - 10.1109/IROS.2013.6696913
M3 - Conference contribution
AN - SCOPUS:84893714129
SN - 9781467363587
T3 - IEEE International Conference on Intelligent Robots and Systems
SP - 3893
EP - 3898
BT - IROS 2013
T2 - 2013 26th IEEE/RSJ International Conference on Intelligent Robots and Systems: New Horizon, IROS 2013
Y2 - 3 November 2013 through 8 November 2013
ER -