HoveringAUV
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.
- PID Controller (``1``)
A 6-length floating point vector of desired position in the global frame and roll, pitch, and yaw. A basic PID 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
All sockets have standard orientation unless stated otherwise. Standard orientation has the x-axis pointing towards the front of the vehicle, the y-axis pointing starboard, and the z-axis pointing upwards.
Socket Definitions
COMCenter of mass.DVLSocketLocation of the DVL.IMUSocketLocation of the IMU. Rotated 180 on x-axis, i.e. in a NED frame instead of NWU.DepthSocketLocation of the depth sensor.SonarSocketLocation of the sonar sensor.CameraRightSocketLocation of the right camera (when looking in the same direction that the AUV is facing).CameraLeftSocketLocation of the left camera (when looking in the same direction that the AUV is facing).OriginTrue center of the robot.ViewportWhere the robot is viewed from.
Socket Frames
Flashlights
The HoveringAUV comes with four built-in flashlights positioned around the vehicle to provide illumination in various directions.
flashlight1: (31, -25, 14)
flashlight2: (31, 25, 14)
flashlight3: (31, -25, -15)
flashlight4: (31, 25, -15)
Please refer to flashlights for information on available control commands.