TY - GEN
T1 - Visual servo control for an underwater free-floating manipulator with base motion compensation
AU - Zhang, Lijun
AU - Gao, Jian
AU - Yan, Weisheng
N1 - Publisher Copyright:
© 2018 IEEE.
PY - 2018/12/4
Y1 - 2018/12/4
N2 - In this paper, a visual servo control scheme with base motion compensation using an unscented Kalman filter (UKF) is presented for an underwater vehicle-manipulator system (UVMS) performing intervention tasks. It is assumed that the underwater vehicle is dynamically positioned by a station keeping controller in uncertain motion under disturbances of the environment and the manipulator. To control the free-floating manipulator (FFM) accurately, we propose an eye-in-hand visual servo controller with a disturbance compensator (DC-VSC). The velocity of the base is estimated by an unscented Kalman filter (UKF) with visual measurements based on the kinematic model of the UVMS. The simulation results validate the effectiveness of the proposed DC-VSC, which tracks the stationary visual target in the presence of an uncertain moving base.
AB - In this paper, a visual servo control scheme with base motion compensation using an unscented Kalman filter (UKF) is presented for an underwater vehicle-manipulator system (UVMS) performing intervention tasks. It is assumed that the underwater vehicle is dynamically positioned by a station keeping controller in uncertain motion under disturbances of the environment and the manipulator. To control the free-floating manipulator (FFM) accurately, we propose an eye-in-hand visual servo controller with a disturbance compensator (DC-VSC). The velocity of the base is estimated by an unscented Kalman filter (UKF) with visual measurements based on the kinematic model of the UVMS. The simulation results validate the effectiveness of the proposed DC-VSC, which tracks the stationary visual target in the presence of an uncertain moving base.
KW - Disturbance compensatior
KW - Free-floating manipulator
KW - Underwater vehicle-manipulator system
KW - Unscented Kalman filter
KW - Visual servo
UR - http://www.scopus.com/inward/record.url?scp=85060276163&partnerID=8YFLogxK
U2 - 10.1109/OCEANSKOBE.2018.8559380
DO - 10.1109/OCEANSKOBE.2018.8559380
M3 - 会议稿件
AN - SCOPUS:85060276163
T3 - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
BT - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
PB - Institute of Electrical and Electronics Engineers Inc.
T2 - 2018 OCEANS - MTS/IEEE Kobe Techno-Oceans, OCEANS - Kobe 2018
Y2 - 28 May 2018 through 31 May 2018
ER -