{"status":"ok","message-type":"work","message-version":"1.0.0","message":{"indexed":{"date-parts":[[2025,11,6]],"date-time":"2025-11-06T06:06:55Z","timestamp":1762409215570,"version":"3.37.3"},"reference-count":20,"publisher":"Wiley","license":[{"start":{"date-parts":[[2016,1,1]],"date-time":"2016-01-01T00:00:00Z","timestamp":1451606400000},"content-version":"unspecified","delay-in-days":0,"URL":"http:\/\/creativecommons.org\/licenses\/by\/4.0\/"}],"funder":[{"DOI":"10.13039\/501100003141","name":"Consejo Nacional de Ciencia y Tecnolog\u00eda","doi-asserted-by":"publisher","id":[{"id":"10.13039\/501100003141","id-type":"DOI","asserted-by":"publisher"}]}],"content-domain":{"domain":[],"crossmark-restriction":false},"short-container-title":["Journal of Sensors"],"published-print":{"date-parts":[[2016]]},"abstract":"<jats:p>This paper presents a vision-based navigation system for an autonomous underwater vehicle in semistructured environments with poor visibility. In terrestrial and aerial applications, the use of visual systems mounted in robotic platforms as a control sensor feedback is commonplace. However, robotic vision-based tasks for underwater applications are still not widely considered as the images captured in this type of environments tend to be blurred and\/or color depleted. To tackle this problem, we have adapted the<mml:math xmlns:mml=\"http:\/\/www.w3.org\/1998\/Math\/MathML\" id=\"M1\"><mml:mi>l<\/mml:mi><mml:mi>\u03b1<\/mml:mi><mml:mi>\u03b2<\/mml:mi><\/mml:math>color space to identify features of interest in underwater images even in extreme visibility conditions. To guarantee the stability of the vehicle at all times, a model-free robust control is used. We have validated the performance of our visual navigation system in real environments showing the feasibility of our approach.<\/jats:p>","DOI":"10.1155\/2016\/8594096","type":"journal-article","created":{"date-parts":[[2016,7,18]],"date-time":"2016-07-18T17:20:32Z","timestamp":1468862432000},"page":"1-16","source":"Crossref","is-referenced-by-count":16,"title":["Vision-Based Autonomous Underwater Vehicle Navigation in Poor Visibility Conditions Using a Model-Free Robust Control"],"prefix":"10.1155","volume":"2016","author":[{"ORCID":"https:\/\/orcid.org\/0000-0002-1543-3701","authenticated-orcid":true,"given":"Ricardo","family":"P\u00e9rez-Alcocer","sequence":"first","affiliation":[{"name":"CONACYT-Instituto Polit\u00e9cnico Nacional-CITEDI, 22435 Tijuana, BC, Mexico"}],"role":[{"role":"author","vocabulary":"crossref"}]},{"ORCID":"https:\/\/orcid.org\/0000-0002-0327-3851","authenticated-orcid":true,"given":"L. 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