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Towards semi-autonomous operation of under-actuated underwater vehicles: sensor fusion, on-line identification and visual servo control

机译：转向欠驱动水下航行器的半自主运行：传感器融合，在线识别和视觉伺服控制

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摘要

In this paper we propose a framework for semi-autonomous operation of an under-actuated underwater vehicle. The contributions of this paper are twofold: The first contribution is a visual servoing control scheme that is designed to provide a human operator the capability to steer the vehicle without loosing the target from the vision system's field of view. It is shown that the under-actuated degree of freedom is input-to-state stable (ISS) and a shaping of the user input with stability guarantees is implemented. The resulting control scheme has formally guaranteed stability and convergence properties. The second contribution is an asynchronous Modified Dual Unscented Kalman Filter (MDUKF) for the on-line state and parameter estimation of the vehicle by fusing data from a Laser Vision System (LVS) and an Inertial Measurement Unit (IMU). The MDUKF has been developed in order to experimentally verify the performance of the proposed visual servoing control scheme. Experimental results of the visual servoing control scheme integrated with the asynchronous MDUKF indicate the feasibility and applicability of the proposed control scheme. Experiments have been carried out on a small under-actuated Remotely Operated Vehicle (ROV) in a test tank.
机译：在本文中，我们提出了一种用于欠驱动水下航行器的半自主运行的框架。本文的贡献有两个方面：第一个贡献是视觉伺服控制方案，该方案旨在为操作员提供引导车辆的能力，而不会从视觉系统的视野中失去目标。结果表明，欠驱动的自由度是输入状态稳定（ISS），并且实现了具有稳定性保证的用户输入整形。最终的控制方案已正式保证了稳定性和收敛性。第二个贡献是通过修改来自激光视觉系统（LVS）和惯性测量单元（IMU）的数据，对车辆进行在线状态和参数估计的异步修改型双重无味卡尔曼滤波器（MDUKF）。开发MDUKF的目的是通过实验验证所提出的视觉伺服控制方案的性能。视觉伺服控制方案与异步MDUKF集成的实验结果表明了所提出的控制方案的可行性和适用性。实验是在测试罐中的小型欠驱动遥控车（ROV）上进行的。

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