HoveringAUV

Images

../_images/hovering-auv.png

Description

Our custom in-house hovering AUV.

See the HoveringAUV.

Control Schemes

AUV Thrusters (``0``)

An 8-length floating point vector used to specify the control on each thruster. They begin with the front right vertical thrusters, then goes around counter-clockwise, then repeat the last four with the sideways thrusters.

PD Controller (``1``)

A 6-length floating point vector of desired position in the global frame and roll, pitch, and yaw. A basic PD controller has been implementing to move the vehicle to that position and orientation using the needed forces and torques.

Custom Dynamics (``2``)

A 6-length floating point vector of linear and angular accelerations in the global frame. This is to be used for implementing custom dynamics. Besides collisions, all other forces and torques - including gravity, buoyancy, and damping - have been disabled in the simulator to allow for a clean slate for custom dynamics.

Sockets

  • COM Center of mass

  • DVLSocket Location of the DVL

  • IMUSocket Location of the IMU.

  • DepthSocket Location of the depth sensor.

  • SonarSocket Location of the sonar sensor.

  • CameraRightSocket Location of the right camera (when looking in the same direction that the AUV is facing).

  • CameraLeftSocket Location of the left camera (when looking in the same direction that the AUV is facing).

  • Origin true center of the robot

  • Viewport where the robot is viewed from.

../_images/hovering-angled.png ../_images/hovering-top.png ../_images/hovering-right.png ../_images/hovering-front.png