A visual servoing system for an aquatic swimming robot

Junaed Sattar, Philippe Giguere, Gregory Dudek, Chris Prahacs

Research output: Chapter in Book/Report/Conference proceedingConference contribution

28 Scopus citations

Abstract

This paper describes a visual servoing system for an underwater legged robotic system named AQUA and initial experiments with the system performed in the open sea. A large class of significant applications can be leveraged by allowing such a robot to follow a diver or some other moving target. The robot uses a suite of sensing technologies, primarily based on computer vision, to allow it to navigate in shallow-water environments. The visual servoing system described here allows the robot to track and follow a given target underwater. The servo package is made up of two distinct parts: a tracker and a feedback controller. The system has been evaluated in the sea water and under natural lighting conditions. The servo system has been tested underwater, and with minor modifications the system can be used while the robot is walking on the ground as well.

Original languageEnglish (US)
Title of host publication2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS
PublisherIEEE Computer Society
Pages1483-1488
Number of pages6
ISBN (Print)0780389123, 9780780389120
DOIs
StatePublished - 2005

Publication series

Name2005 IEEE/RSJ International Conference on Intelligent Robots and Systems, IROS

Keywords

  • Computer Vision
  • Control
  • Servoing
  • Tracking
  • Underwater robotics

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