Achieving real-time Intelligent performance in underwater robotics using cheap off-the-shelf components

Document Type : Original Article

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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.

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