Visual Servoing at UNH, Day 3: Style points

I had written a new web-based GUI for the vehicle's onboard database, with some open flash chart graphing capabilities. When we recorded the overnight recharging of the Odyssey IV battery, my code got its chance to shine.

As you can see, cell 10 seems to be defective and it will probably be replaced soon.


Since we were able to closed-loop control our position and yaw based on the camera, and our altitude based on the DVL, it made sense to close the loop on sway based on our heading.

This means that we can say "look at the south side of the pipe", and it maintains a position on the south side of the pipe. In this nav plot, we visited the east, south, west, and north sides.


We packed up and headed back to the lab. Another very successful trip!