@inproceedings{a923b8e29e894b8e874bac3331523588,
title = "A visually guided spherical underwater robot",
abstract = "This paper proposes a visual servoing system for a spherical underwater robot. Based on the spherical robot design, the forces and moments acting on it are analyzed and the governing motion equations are derived. The system consists of an on-board bottom facing camera module which is color coded to extract the position information and then guide the robot to follow the reference pattern placed at the bottom of the test tank. The visual servoing system proposed here allows the spherical underwater robot to track and follow a given target underwater. The main features of the system are, to track the color coded pattern and simultaneously feedback the orientation command to the onboard controller. Experimental results with real time data feedback demonstrate that the proposed algorithm can track the color pattern well and a better control on the spherical underwater robot can be achieved, even under various dynamic operating conditions.",
keywords = "Control, Image Processing, Spherical Underwater Robot, Tracking, Visual Servoing",
author = "Bhuneshwar Prasad and Alok Agrawal and Vinothkumar Viswanathan and Chowdhury, {Abhra Roy} and Rajesh Kumar and Panda, {S. K.}",
note = "Publisher Copyright: {\textcopyright} 2015 IEEE.; 2015 IEEE Underwater Technology, UT 2015 ; Conference date: 23-02-2015 Through 25-02-2015",
year = "2015",
month = may,
day = "14",
doi = "10.1109/UT.2015.7108300",
language = "English",
series = "2015 IEEE Underwater Technology, UT 2015",
publisher = "Institute of Electrical and Electronics Engineers Inc.",
booktitle = "2015 IEEE Underwater Technology, UT 2015",
address = "United States",
}