Equipping autonomous underwater vehicles with manipulators

D. Toal; C. Flanagan; J. Hayes

doi:10.1016/S1474-6670(17)31096-0

Equipping autonomous underwater vehicles with manipulators

D. Toal, C. Flanagan, J. Hayes

University of Limerick

Research output: Contribution to journal › Conference article › peer-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 language	English
Pages (from-to)	151-156
Number of pages	6
Journal	IFAC Proceedings Volumes (IFAC-PapersOnline)
Volume	37
Issue number	14
DOIs	https://doi.org/10.1016/S1474-6670(17)31096-0
Publication status	Published - 2004
Event	3rd IFAC Symposium on Mechatronic Systems 2004 - Sydney, Australia Duration: 6 Sep 2004 → 8 Sep 2004

Keywords

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

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10.1016/S1474-6670(17)31096-0

Cite this

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title = "Equipping autonomous underwater vehicles with manipulators",

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.",

keywords = "Autonomous vehicles, Kinematics, Marine systems, Mobile robots, Robot control, Robotic manipulators, Visual servo",

author = "D. Toal and C. Flanagan and J. Hayes",

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T1 - Equipping autonomous underwater vehicles with manipulators

AU - Toal, D.

AU - Flanagan, C.

AU - Hayes, J.

PY - 2004

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N2 - 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.

AB - 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.

KW - Autonomous vehicles

KW - Kinematics

KW - Marine systems

KW - Mobile robots

KW - Robot control

KW - Robotic manipulators

KW - Visual servo

UR - https://www.scopus.com/pages/publications/34547214895

U2 - 10.1016/S1474-6670(17)31096-0

DO - 10.1016/S1474-6670(17)31096-0

M3 - Conference article

AN - SCOPUS:34547214895

SN - 1474-6670

VL - 37

SP - 151

EP - 156

JO - IFAC Proceedings Volumes (IFAC-PapersOnline)

JF - IFAC Proceedings Volumes (IFAC-PapersOnline)

IS - 14

T2 - 3rd IFAC Symposium on Mechatronic Systems 2004

Y2 - 6 September 2004 through 8 September 2004

ER -

Equipping autonomous underwater vehicles with manipulators

Abstract

Keywords

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