Abstract
–A localization system using visual information for the guidance and navigation of a biomimetic-autonomous underwater vehicle (BAUV) is proposed. The BAUV is commanded to track a buoy line of a docking station from a distance. The purpose of the visual sensor is to assist the position estimation for the vehicle. An extended Kalman filter that combines observational information with navigational data is shown to be effective in reducing positional uncertainty of the BAUV and environmental features. Experimental results in a water tank show the validity of the proposed method.
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