Equipping autonomous underwater vehicles with manipulators

D. Toal, C. Flanagan, J. Hayes

Research output: Contribution to journalConference articlepeer-review

Abstract

This paper investigates control of robot manipulators on autonomous mobile robots and autonomous underwater vehicles (AUVs). The approach is a variant on visual servoing but does not employ position based visual servoing or feature driven image based visual servoing. Instead the method of target acquisition and tracking uses a directional control approach with incremental motion towards target.

Original languageEnglish
Pages (from-to)151-156
Number of pages6
JournalIFAC Proceedings Volumes (IFAC-PapersOnline)
Volume37
Issue number14
DOIs
Publication statusPublished - 2004
Event3rd IFAC Symposium on Mechatronic Systems 2004 - Sydney, Australia
Duration: 6 Sep 20048 Sep 2004

Keywords

  • Autonomous vehicles
  • Kinematics
  • Marine systems
  • Mobile robots
  • Robot control
  • Robotic manipulators
  • Visual servo

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