TY - JOUR
T1 - Sensor-based behavior control for an autonomous underwater vehicle
AU - Sattar, Junaed
AU - Giguëre, Philippe
AU - Dudek, Gregory
PY - 2009/6
Y1 - 2009/6
N2 - In this paper, we evaluate a set of core functions that allow an underwater robot to perform surveillance under operator control. Specifically, we are interested in behaviors that facilitate the monitoring of organisms on a coral reef, and we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew and, finally, orientation and motion of the vehicle through a hovering mode. The visual processing consists of target tracking using various techniques (color segmentation, color histogram and mean shift). Communication underwater is achieved through printed cards with robustly identifiable visual markers on them. Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
AB - In this paper, we evaluate a set of core functions that allow an underwater robot to perform surveillance under operator control. Specifically, we are interested in behaviors that facilitate the monitoring of organisms on a coral reef, and we present behaviors and interaction modes for a small underwater robot. In particular, we address some challenging issues arising from the underwater environment: visual processing, interactive communication with an underwater crew and, finally, orientation and motion of the vehicle through a hovering mode. The visual processing consists of target tracking using various techniques (color segmentation, color histogram and mean shift). Communication underwater is achieved through printed cards with robustly identifiable visual markers on them. Finally, the hovering gait developed for this vehicle relies on the planned motion of six flippers to generate the appropriate forces.
KW - Adaptive gait control
KW - Computer vision
KW - Swimming robots
KW - Symbolic languages
KW - Underwater robotics
KW - Visual human-robot interaction
KW - Visual servoing
UR - http://www.scopus.com/inward/record.url?scp=65949089023&partnerID=8YFLogxK
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U2 - 10.1177/0278364908098560
DO - 10.1177/0278364908098560
M3 - Article
AN - SCOPUS:65949089023
SN - 0278-3649
VL - 28
SP - 701
EP - 713
JO - International Journal of Robotics Research
JF - International Journal of Robotics Research
IS - 6
ER -