UX-1 CONTROL, GUIDANCE AND AUTONOMY - Unexmin · 2019-11-10 · UX-1 CONTROL, GUIDANCE AND AUTONOMY...
Transcript of UX-1 CONTROL, GUIDANCE AND AUTONOMY - Unexmin · 2019-11-10 · UX-1 CONTROL, GUIDANCE AND AUTONOMY...
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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
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Sensor Fusion Low-level control
Guidance,
Navigat ion and
Control (GNC)
Localisat ion and
Mapping (SLAM)
UX-1
Data logging &
postporcessing
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Mission
script
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MISSION SCRIPT: ACTIONS
Navigation actions
Unknown map → explore
Know map → go to point (6D)
Payload actions
Take simple
Turn on…
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MISSION SCRIPT: XML
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MISSION SCRIPT: ACTIONS
Navigation
Unknown map → explore
Generate a waypoint 0,5 m ahead, centered, then go to point
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GUIDANCE
Generate a trajectory of intermediate
waypoints with 0,5 m spacing
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GUIDANCE
Simulations
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GUIDANCE
Hardware-in-the-loop tests
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NAVIGATION
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CONTROL
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CONTROL
Control: Feedback Lin., PIDhttps://vimeo.com/259423959
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CONTROL
3500 4000 4500 5000 5500 6000-0.5
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Control: LQR, Feedback Lin.
0 500 1000 1500 2000 2500 3000 3500 4000-2
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CONTROL
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Control Pool tests with Feedback Lin.
https://vimeo.com/321295926
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CONTROL
-8-77
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Janos Cave mission