ux-1 control, guidance and autonomy - unexmin · 2019-11-10 · ux-1 control, guidance and autonomy...
TRANSCRIPT
This project has received funding from the European Union’s Horizon 2020research and innovation programme under grant agreement No 690008.
AN AUTONOMOUS UNDERWATER EXPLORER FOR FLOODED MINES
UX-1 CONTROL, GUIDANCE AND AUTONOMY
NEMO 33, UNEXMIN FINAL CONFERENCE
26TH SEPTEMBER 2019
Sensor Fusion Low-level control
Guidance,
Navigat ion and
Control (GNC)
Localisat ion and
Mapping (SLAM)
UX-1
Data logging &
postporcessing
Mission
script
MISSION SCRIPT: ACTIONS
Navigation actions
Unknown map → explore
Know map → go to point (6D)
Payload actions
Take simple
Turn on…
MISSION SCRIPT: XML
MISSION SCRIPT: ACTIONS
Navigation
Unknown map → explore
Generate a waypoint 0,5 m ahead, centered, then go to point
GUIDANCE
Generate a trajectory of intermediate
waypoints with 0,5 m spacing
GUIDANCE
Simulations
GUIDANCE
Hardware-in-the-loop tests
NAVIGATION
CONTROL
CONTROL
Control: Feedback Lin., PIDhttps://vimeo.com/259423959
CONTROL
3500 4000 4500 5000 5500 6000-0.5
0
0.5
1
1.5
2
2.5
-0.2
0
0.2
0.4
0.6
0.8
1
Control: LQR, Feedback Lin.
0 500 1000 1500 2000 2500 3000 3500 4000-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
0 20 40 60 80 100 120-0.5
0
0.5
1
1.5
2
2.5
3
-3
-2
-1
0
1
2
3
4
CONTROL
-10
12
34
56-1
-0.5
0
0.5
1
-0.5
0
0.5
1
1.5
2
2.5
Control Pool tests with Feedback Lin.
https://vimeo.com/321295926
CONTROL
-8-77
-612
6
11 -5
5
10 -4
4
9
3
-38
2
-27
1
-16
0
05
Janos Cave mission