CougUV

../../_images/coug-uv.png

Description

A small torpedo-style AUV. This is currently just a copy of the Torpedo AUV but with a different asset.

The asset has three fins, but the control scheme is set up for four fins. We have not corrected this becuase we primarily use this vehicle with Fossen-Based Dynamics.

See the CougUV.

Control Schemes

AUV Fins (``0``)

Takes in a 5 length vector of four fin angles and a thruster value. The format is [Right Fin, Top Fin, Left Fin, Bottom Fin] Fins have a range of -45 to 45 degrees, and the thruster has a range of -100 to 100 (percent of max thrust).

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.

Note

Dynamics models from Thor Fossen are available for the CougUV to enable more realistic simulations. To use Fossen dynamics, use the Custom Dynamics control scheme, then create a Fossen vehicle controller and a Fossen dynamics manager. For details, see Fossen-Based Dynamics.

Sockets

All sockets are oriented in the agent’s body frame (right-handed NWU, with the x-axis pointing forward, the y-axis pointing to the left, and the z-axis pointing upward) unless stated otherwise. See Sensor Placement & Sockets for details.

Socket Definitions

  • COM Center of mass.

  • DVLSocket Location of the DVL. Rotated 180 degrees on x-axis (x points forward, y points right, z points down).

  • IMUSocket Location of the IMU. Rotated 180 degrees on x-axis (x points forward, y points right, z points down). Same location as DVL Socket.

  • DepthSocket Location of the depth sensor.

  • AcousticModemSocket Location of the acoustic modem.

  • Viewport where the robot is viewed from.

Socket Frames

../../_images/coug-perspective.png ../../_images/coug-top.png ../../_images/coug-side.png ../../_images/coug-front.png

Flashlights

The CougUV comes with a single forward-facing flashlight mounted at the front of the vehicle for illumination.

../../_images/coug_uv_flashlight.png

  • flashlight1: (62, -0.2, 8.5)

Please refer to flashlights for information on available control commands.