Girona 500, autonomous underwater vehicle, Underwater Vision and Robotics Research Centre, Girona, Spain

This video illustrates an article presented at IROS 2013. The paper describes the design and implementation of a visual servo control scheme for an Autonomous Underwater Vehicle (AUV). The purpose of the control scheme is to navigate and stabilize the vehicle towards a visual target. The resulting control scheme has analytically guaranteed stability and convergence properties, while its applicability and performance are experimentally verified using Girona 500 AUV.

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