engleski

Developments in Auto Piloting ; Research and Development Based on VideoRay Products

An overview of research and development efforts that have come to fruition in 2006, based on the VideoRay Pro II micro-ROV is given. An extension of the PCPilot vendor-provided software with support and interface to the developed fuzzy-logic and auto-tuning PI-D controllers is presented. A non-linaer model identified via the use of feature extraction from a nadir web camera video is also presented as a foundation for further work in model-predictive-control. Some hardware solutions developed in lieu of the bulky fieldwork-oriented vendor-provided setup are presented that were used during the case studies and experiments in the pool.

ROVs; AUVs; course control; non-linear modelling; decoupling controllers; video feature extraction

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