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Authors: Musa Morena Marcusso Manhães 1 ; Sebastian A. Scherer 1 ; Luiz Ricardo Douat 1 ; Martin Voss 1 and Thomas Rauschenbach 2

Affiliations: 1 Robert Bosch GmbH, Germany ; 2 Fraunhofer-Institute of Optronics and Systems Technologies and Image Exploitation, Germany

ISBN: 978-989-758-265-3

Keyword(s): Underwater Robotics, Robust Control, Parameter Optimization, Sliding Mode Control, SMAC, Underwater Robotics Simulation, Gazebo.

Related Ontology Subjects/Areas/Topics: Application Domains ; Case Studies ; Domain-Specific Tools ; Health Engineering and Technology Applications ; Neural Rehabilitation ; Neurotechnology, Electronics and Informatics ; Robotics, Automation and Mechatronics ; Simulation and Modeling ; Simulation Tools and Platforms

Abstract: Tasks with underwater vehicles present several challenges that include complex and hazardous environments, and unmodeled and/or unknown uncertainties. The setup of positioning controllers is therefore a difficult and laborious task and very often leads to suboptimal performance results on the field. This paper shows a framework for methodical evaluation and setup of dynamic positioning controllers for underwater vehicles with simulation-based optimization method using performance metrics. The proposed method can be configured to be mission specific and delivers a controller configuration that also allows a fair numerical comparison between control algorithms on similar scenarios.

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Paper citation in several formats:
Marcusso Manhães M., A. Scherer S., Douat L., Voss M. and Rauschenbach T. (2017). Framework for Fair Comparisons of Underwater Vehicle Controllers - Showcasing the Robustness Properties of a Model-free Sliding Mode Controller Tuned with a Random-forest-based Bayesian Optimization Approach.In Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH, ISBN 978-989-758-265-3, pages 102-113. DOI: 10.5220/0006427001020113

@conference{simultech17,
author={Musa Morena Marcusso Manhães and Sebastian A. Scherer and Luiz Ricardo Douat and Martin Voss and Thomas Rauschenbach},
title={Framework for Fair Comparisons of Underwater Vehicle Controllers - Showcasing the Robustness Properties of a Model-free Sliding Mode Controller Tuned with a Random-forest-based Bayesian Optimization Approach},
booktitle={Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,},
year={2017},
pages={102-113},
publisher={SciTePress},
organization={INSTICC},
doi={10.5220/0006427001020113},
isbn={978-989-758-265-3},
}

TY - CONF

JO - Proceedings of the 7th International Conference on Simulation and Modeling Methodologies, Technologies and Applications - Volume 1: SIMULTECH,
TI - Framework for Fair Comparisons of Underwater Vehicle Controllers - Showcasing the Robustness Properties of a Model-free Sliding Mode Controller Tuned with a Random-forest-based Bayesian Optimization Approach
SN - 978-989-758-265-3
AU - Marcusso Manhães M.
AU - A. Scherer S.
AU - Douat L.
AU - Voss M.
AU - Rauschenbach T.
PY - 2017
SP - 102
EP - 113
DO - 10.5220/0006427001020113

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