Browse > Article
http://dx.doi.org/10.7746/jkros.2013.8.1.037

Localization and Autonomous Control of PETASUS System II for Manipulation in Structured Environment  

Han, Jonghui (Korea Atomic Energy Research Institute)
Ok, Jinsung (Daewoo Shipbuilding Marine Engineering)
Chung, Wan Kyun (Mechanical Engineering, POSTECH)
Publication Information
The Journal of Korea Robotics Society / v.8, no.1, 2013 , pp. 37-42 More about this Journal
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.
Keywords
Underwater manipulation; Localization; Autonomy;
Citations & Related Records
Times Cited By KSCI : 1  (Citation Analysis)
연도 인용수 순위
1 H. Choi et al., "Introduction to ROV and Motion Control & Signal Processing for ROV (Remotely Operated Vehicle) Hemire", Journal of the Korean Society of Precision Engineering, vol. 26, no. 5, pp. 41-47, 2009   과학기술학회마을
2 Y. Choi et al., "Underwater Robot Technology for the Inspection of Nuclear Power Plant", 2006 Fall Workshop of Korea Unmanned Underwater Vehicle, 2006
3 http://www.ktsubmarine.co.kr/
4 J. Han et al., "Development of a small underwater vehicle/manipulator system for underwater manipulation", 2006 Spring Workshop of Korea Unmanned Underwater Vehicle, 2006
5 J. Ok et al., "UUV 3D localization using sensor fusion in structured underwater environment", 2011 Spring Workshop of Korea Unmanned Underwater Vehicle, 2011
6 J. Han et al., "Application of Motivation-based Action Selection to Behavior-based Control Architecture for Unmanned Underwater Vehicles", 2010 Spring Workshop of Korea Unmanned Underwater Vehicle, 2010
7 W. Hall, M. Adams, "Autonomous vehicle software taxonomy", Proceedings of the 1992 symposium on autonomous underwater vehicle technology, 1992, pp.49-64
8 P. Ridao, et al. "Recent trends in control architectures for autonomous underwater vehicles", International Journal of Systems Science, vol. 30, pp.1033-1056, 1999   DOI   ScienceOn
9 K. Valavanis, et al, "Control architectures for autonomous underwater vehicles,", IEEE Control Systems Magazine, vol.17, no.6, pp.48-64, 1997
10 Y. Choi and W. K. Chung, PID Trajectory Tracking Control for Mechanical Systems. Springer, 2004.
11 J. Ok, UUV 3D Localization in Structured Underwater Environment for Manipulation, MS thesis, POSTECH, 2011