Vision-Based Modelling and Control of Small Underwater Vehicles

Conference paper
Part of the Advances in Intelligent Systems and Computing book series (AISC, volume 1196)


Modelling and control of underwater vehicles in most cases, demand their hydrodynamic parameters’ identification, which is a timely and technically demanding task. Therefore, more convenient methods of utilising vision systems have been introduced. However, many solutions presented in the literature assume that a camera is mounted in the central part of a swimming pool. What is more, they are not applicable for trajectory determination, which constitutes an essential factor in devising a control system of autonomous vehicles. For that reason, a computer vision system has been designed and developed, which enables tracking a vehicle and determining its trajectory as well. The obtained results indicate that the developed system enables modelling and control of underwater vehicles under laboratory conditions.


Mathematical model Underwater vehicle Vision system Trajectory determination 



The paper is supported by Project No. DOBR-BIO4/033/13015/2013, entitled “Autonomous underwater vehicles with silent undulating propulsion for underwater reconnaissance” financed by Polish National Centre of Research and Development.


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© Springer Nature Switzerland AG 2020

Authors and Affiliations

  1. 1.Polish Naval AcademyGdyniaPoland

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