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• W2885771017 endingPage "2574" @default.
• W2885771017 startingPage "2574" @default.
• W2885771017 abstract "This work describes the modeling, control and development of a low cost Micro Autonomous Underwater Vehicle (μ-AUV), named AR2D2. The main objective of this work is to make the vehicle to detect and follow an object with defined color by means of the readings of a depth sensor and the information provided by an artificial vision system. A nonlinear PD (Proportional-Derivative) controller is implemented on the vehicle in order to stabilize the heave and surge movements. A formal stability proof of the closed-loop system using Lyapunov’s theory is given. Furthermore, the performance of the μ-AUV is validated through numerical simulations in MatLab and real-time experiments." @default.
• W2885771017 created "2018-08-22" @default.
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• W2885771017 date "2018-08-06" @default.
• W2885771017 modified "2023-10-01" @default.
• W2885771017 title "Modeling and Control of a Micro AUV: Objects Follower Approach" @default.
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• W2885771017 doi "https://doi.org/10.3390/s18082574" @default.
• W2885771017 hasPubMedCentralId "https://www.ncbi.nlm.nih.gov/pmc/articles/6111779" @default.
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