Vision based assisted operations in underwater environments using ropes

摘要

This paper faces up the problem of carrying out simple tasks, such as to fasten an object, tasks that become relatively complex in operations using robots, specially in underwater environments. The goal of this work is to perform such tasks by using intelligent strategies that plan step by step allowing for compensation of the robots own limitations. The strategy is based on the use of information from stereo vision and the required auxiliary devices or tools to contribute to the development of the task.