TorpedoAUV

Images

Description

A generic AUV.

See the TorpedoAUV.

Control Schemes

AUV Fins (``0``)

Takes in a 5 length vector. The first element is the right fin angle from -45 to 45 degrees, then top, left, and bottom. The last element is the “thruster” with a value of -100 to 100.

Custom Dynamics (``1``)

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.

• Viewport where the robot is viewed from.