Dynamic Simulation of Autonomous Manipulation Task for UVMS with Fusing Vision and Inertial Measurements
文献类型：会议论文
| 作者 | Li Q(李强); Zhang QF(张奇峰) ; Wang XH(王晓辉)
|
| 出版日期 | 2008 |
| 会议名称 | 18th International Offshore and Polar Engineering Conference (ISOPE 2008) |
| 会议日期 | July 6-11, 2008 |
| 会议地点 | Vancouver, CANADA |
| 关键词 | UVMS dynamic simulation relative position estimator UKF fuzzy adaptive PID Autonomous Underwater Manipulation |
| 页码 | 415-422 |
| 中文摘要 | In this paper, a simulator based on the Matlab is proposed to simulate the manipulation action of UVMS(Underwater Vehicle-Manipulator Systems). In the simulator a fuzzy adaptive PID controller and a relative position observer are presented. The observer can estimate the relative position between the vehicle and the target to be manipulated by fusing vision and inertial measurements. Simulation results indicate that the compounded control strategy can complete the manipulation task and manipulation error can reach the centimeter level. |
| 收录类别 | EI ; CPCI（ISTP） |
| 产权排序 | 1 |
| 会议主办者 | Int Soc Offshore & Polar Engineers |
| 会议录 | PROCEEDINGS OF THE EIGHTEENTH (2008) INTERNATIONAL OFFSHORE AND POLAR ENGINEERING CONFERENCE, VOL 2
 |
| 会议录出版者 | INTERNATIONAL SOCIETY OFFSHORE& POLAR ENGINEERS |
| 会议录出版地 | CUPERTINO |
| 语种 | 英语 |
| ISSN号 | 1098-6189 |
| WOS记录号 | WOS:000259889600064 |
| 源URL | [http://ir.sia.cn/handle/173321/7813]  |
| 专题 | 沈阳自动化研究所_水下机器人研究室 |
| 推荐引用方式 GB/T 7714 | Li Q,Zhang QF,Wang XH. Dynamic Simulation of Autonomous Manipulation Task for UVMS with Fusing Vision and Inertial Measurements[C]. 见:18th International Offshore and Polar Engineering Conference (ISOPE 2008). Vancouver, CANADA. July 6-11, 2008. |
入库方式： OAI收割
来源：沈阳自动化研究所
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