ux-1 control, guidance and autonomy - unexmin · 2019-11-10 · ux-1 control, guidance and autonomy...

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