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基于视觉伺服的水下机器人悬停定位
Alternative TitleStation keeping of underwater vehicle based on visual servoing
吴清潇; 郝颖明; 李硕; 朱枫
Department光电信息研究室
Conference Name2007中国控制与决策学术年会
Conference Date2007
Conference Place中国江苏无锡
Author of Source《控制与决策》编辑委员会、中国航空学会自动控制分会、中国自动化学会应用专业委员会
Source Publication2007中国控制与决策学术年会论文集
Publisher东北大学出版社
2007
Pages419-421,426
Indexed ByCPCI(ISTP)
WOS IDWOS:000247648200112
Contribution Rank1
ISBN978-7-81102-396-1
Keyword水下机器人 悬停定位 视觉伺服 位姿估计
Abstract为实现水下机器人的悬停定位,提出一种基于视觉伺服的方法.通过安装在机器人上的摄像机实时摄取特定观察目标的图像,应用基于单目视觉位姿估计方法获取观察目标相对干摄像机的位姿信息,并以此作为反馈构成机器人运动的伺服控制.以本单位的水下机器人控制系统实验研究平台为载体,在实验水池内完成了实验.实验结果表明,在存在外力扰动的情况下机器人可以运动到指定位姿并保持悬停.
Other AbstractIn order to implement the station keeping of an underwater vehicle,a method based on visual servoing is proposed.The image of the special object is obtained synchronously by using a camera is fixed on the robot.Then the pose between the object and the cam
Language中文
Citation statistics
Cited Times:1[WOS]   [WOS Record]     [Related Records in WOS]
Document Type会议论文
Identifierhttp://ir.sia.cn/handle/173321/6763
Collection光电信息技术研究室
Corresponding Author吴清潇
Affiliation中国科学院沈阳自动化研究所
Recommended Citation
GB/T 7714
吴清潇,郝颖明,李硕,等. 基于视觉伺服的水下机器人悬停定位[C]//《控制与决策》编辑委员会、中国航空学会自动控制分会、中国自动化学会应用专业委员会:东北大学出版社,2007:419-421,426.
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