Towards Micro Robot Hydrobatics: Vision-based Guidance, Navigation, and Control for Agile Underwater Vehicles in Confined Environments

摘要

Despite the recent progress, guidance, navigation, and control (GNC) are largely unsolved for agile micro autonomous underwater vehicles (μAUVs). Hereby, robust and accurate self-localization systems which fit μAUVs play a key role and their absence constitutes a severe bottleneck in micro underwater robotics research. In this work we present, first, a small-size low-cost high performance vision-based self-localization module which solves this bottleneck even for the requirements of highly agile robot platforms. Second, we present its integration into a powerful GNC-framework which allows the deployment of μAUVs in fully autonomous mission. Finally, we critically evaluate the performance of the localization system and the GNC-framework in two experimental scenarios.