Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components | ||||
The International Conference on Electrical Engineering | ||||
Article 168, Volume 6, 6th International Conference on Electrical Engineering ICEENG 2008, May 2008, Page 1-17 PDF (301.01 K) | ||||
Document Type: Original Article | ||||
DOI: 10.21608/iceeng.2008.34619 | ||||
View on SCiNiTO | ||||
Authors | ||||
Ali Ibraheem; Bilal Hassanein; Saad Sharaf; Mohi Ahmad; Mahmoud Magdy; Mohamed Abdelhady; Hamada Attia | ||||
Alexandria University, Faculty of Engineering. | ||||
Abstract | ||||
Abstract: The present paper proposes a new simple strategy to build underwater robots using cheap off-the-shelf components. The proposed strategy successfully achieves real-time operation without requiring expensive special purpose hardware/software. The simple geometry of the proposed design makes it possible to derive an accurate dynamic model of the robot. The dynamic model, hardware/software preprocessing of webcam images, multi-feature Kalman based combining as well as neural networks are used to compensate for the limited sensors and computational resources. | ||||
Keywords | ||||
Underwater robotics; Kalman; Neural Networks; Behavior Based Robotics | ||||
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