@inproceedings{163513197458475a92b67487e71ba856,
title = "Autonomous Landing of an Unmanned Underwater Vehicle using Hybrid Visual Servoing Control with Image Moments and Quaternions",
abstract = "In this paper, a hybrid visual servo (HVS) control method is proposed for autonomous landing of an unmanned underwater vehicle (UUV) on a surface with any attitude angles (e.g., dam or ship bottom) before the cleaning or detecting operation. The hybrid features used in the HVS controller are constructed by image moments and unit quaternion of the vehicle. The desired velocity is generated by a liner feedback control of hybrid visual errors. In the dynamic control, dynamic inversion with adaptive neural network is used to overcome uncertain disturbances. Simulation results verify the effectiveness of the proposed HVS control strategy.",
keywords = "dynamic inversion, image moments, underwater vehicle landing",
author = "Jie Liu and Jian Gao and Xuman An and Weisheng Yan",
note = "Publisher Copyright: {\textcopyright} 2019 IEEE.; 2019 OCEANS - Marseille, OCEANS Marseille 2019 ; Conference date: 17-06-2019 Through 20-06-2019",
year = "2019",
month = jun,
doi = "10.1109/OCEANSE.2019.8867117",
language = "英语",
series = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "OCEANS 2019 - Marseille, OCEANS Marseille 2019",
}