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
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.