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Yu Wang, Yujie Wang, Yaxin Li and Cheng Ren
This paper proposes a hybrid propulsion-based small underwater robot for robust trajectory tracking control in a harsh and complex underwater environment. The robot is equipped with a Coanda-effect jet thruster and a pair of propeller-based reconfigurabl...
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Tao Jiang, Yize Sun, Hai Huang, Hongde Qin, Xi Chen, Lingyu Li, Zongyu Zhang and Xinyue Han
Autonomous underwater manipulation is very important for the robotic and intelligence operations of oceanic engineering. However, a small target often involves limited features and results in inaccurate visual matching. In order to improve visual measure...
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Chengxi Wu, Yuewei Dai, Liang Shan and Zhiyu Zhu
This paper focuses on developing a data-driven trajectory tracking control approach for autonomous underwater vehicles (AUV) under uncertain external disturbance and time-delay. A novel model-free adaptive predictive control (MFAPC) approach based on a f...
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Erkang Chen, Tian Ye, Qianru Chen, Bin Huang and Yendo Hu
Underwater images often suffer from low contrast, low visibility, and color deviation. In this work, we propose a hybrid underwater enhancement method consisting of addressing an inverse problem with novel Retinex transmission map estimation and adaptive...
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Jianping Yuan, Yingying She, Yinghao Zhang, Jun Xu and Lei Wan
This study focuses on addressing the the coupling problem of the vertical and horizontal plane of an autonomous underwater vehicle (AUV) with an X-rudder. To guarantee the steering performance of the AUV, a depth and course control algorithm based on an ...
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