The Journal of Korea Robotics Society (로봇학회논문지)

Korea Robotics Society (한국로봇학회)
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Localization and Autonomous Control of PETASUS System II for Manipulation in Structured Environment

구조화된 수중 환경에서 작업을 위한 PETASUS 시스템 II의 위치 인식 및 자율 제어

  • Received : 2012.10.21
  • Accepted : 2012.11.20
  • Published : 2013.02.28
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Abstract

In this paper, a localization algorithm and an autonomous controller for PETASUS system II which is an underwater vehicle-manipulator system, are proposed. To estimate its position and to identify manipulation targets in a structured environment, a multi-rate extended Kalman filter is developed, where map information and data from inertial sensors, sonar sensors, and vision sensors are used. In addition, a three layered control structure is proposed as a controller for autonomy. By this controller, PETASUS system II is able to generate waypoints and make decisions on its own behaviors. Experiment results are provided for verifying proposed algorithms.

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References

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