Open AccessControl PID basado en odometría visual monocular a un vehículo de superficie marino
Author(s) -
Francisco Mendoza-Ruiz,
José Cuauhtémoc Reyes-De Coss,
Hussain Alazki,
J.L. Rullan Lara
Publication year - 2020
Publication title -
revista de ingenieria innovativa
Language(s) - English
Resource type - Journals
ISSN - 2523-6873
DOI - 10.35429/joie.2020.15.4.29.36
Subject(s) - pid controller , computer science , monocular , computer vision , artificial intelligence , feature (linguistics) , frame (networking) , matlab , control engineering , engineering , temperature control , telecommunications , linguistics , philosophy , operating system
The aim of this work is to study the behavior of a marine vehicle applying vision-based control. We use a DMVO algorithm (Direct Monocular Visual Odometry) that is based at the feature extraction of two image frames taken consecutively at two continuous tame frames in order to estimate a marine vehicle’s position; vehicle’s dynamics are modeled without external perturbations and therefore apply a vision based Proportional Integral Derivative (PID) control for the study of its behavior through simulations using computational tools to simulate a 3D scenario and get the matrix that contains the image from the inertial frame of reference view from the vehicle. First we need a static scenario that contains reference points such that we are able to apply the proposed vision based PID control; the virtual scenario was designed at the MATLAB’s virtual world editor that let us add sensors such as cameras, and set their parameters for make the study and simulations such as path following.