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dc.contributor.authorHaugaløkken, Bent Oddvar Arnesen
dc.contributor.authorSkaldebø, Martin Breivik
dc.contributor.authorSchjølberg, Ingrid
dc.date.accessioned2020-09-07T12:36:48Z
dc.date.available2020-09-07T12:36:48Z
dc.date.created2020-06-19T14:29:25Z
dc.date.issued2020
dc.identifier.issn0921-8890
dc.identifier.urihttps://hdl.handle.net/11250/2676690
dc.description.abstractOptics-based systems may provide high spatial and temporal resolution for close range object detection in underwater environments. By using a monocular camera on a low cost underwater vehicle manipulator system, objects can be tracked by the vehicle and handled by the manipulator. In this paper, a monocular camera is used to detect an object of interest through object detection. Spatial features of the object are extracted, and a dynamic positioning system is designed for the underwater vehicle in order for it to maintain a desired position relative to the object. A manipulator mounted under the vehicle is used to retrieve the object through a developed kinematic control system. Experimental tests verify the proposed methodology. A stability analysis proves asymptotic stability properties for the chosen sliding mode controller and exponential stability for the task error.en_US
dc.language.isoengen_US
dc.publisherElsevieren_US
dc.rightsNavngivelse 4.0 Internasjonal*
dc.rights.urihttp://creativecommons.org/licenses/by/4.0/deed.no*
dc.titleMonocular vision-based gripping of objectsen_US
dc.typePeer revieweden_US
dc.typeJournal articleen_US
dc.description.versionpublishedVersionen_US
dc.source.journalRobotics and Autonomous Systemsen_US
dc.identifier.doi10.1016/j.robot.2020.103589
dc.identifier.cristin1816371
dc.description.localcode© 2020 The Author(s). Published by Elsevier B.V. This is an open access article under the CC BY license (http://creativecommons.org/licenses/by/4.0/).en_US
cristin.ispublishedtrue
cristin.fulltextoriginal
cristin.qualitycode1


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Navngivelse 4.0 Internasjonal
Except where otherwise noted, this item's license is described as Navngivelse 4.0 Internasjonal