Navigation and control of H20mni-X maritime robot
Course : Marine Robotics
The goal of the project is the implementation of the navigation design process, guidance and control (NGC) algorithms for H20mni-x maritime robot. H20mni-X is an autonomous surface vehicle (ASV) that weighs about 20 kg and is placed in a pool that is monitored by localization cameras. H20mniX contains sensors such as a magnetometer and accelerometer and is equipped with ROS system for communication with Simulink model. The project consists of a simulation and a practical part.
Figure : H20mni-X
Seminar Documentation can be found in the Documentation/Seminar - Simulaton and Practical parts.pdf file
- Compensation of thruster nonlinearity - compensation of thruster nonlinearity ensures required thruster forces
- Control allocation - distribution of control, i.e. mapping of the generalized vector of forces and moments τ into individual thruster force requirements.
- PI heading controller - the heading controller needed to control the angle of the H2OmniX
- PID positioning controller - controller for placing the H2OmniX at the desired location in the pool.
In the Simulation and Matlab run the following files from the Simulation folder:
MarineRoboticsLib.slx
Regulator.m
- Simulink model - start by pressing the Run button and visualize the results using Scope blocks
main.slx
The results can be found in the Documentation/seminar.pdf report.
//TODO: translate the report to English
Contributors names and contact info
| Author | GitHub | |
|---|---|---|
| Enio Krizman | @kr1zzo | enio.krizman@fer.hr |
| Pero Drobac | @PeteHeat08 | pero.drobac@fer.hr |
| Lovre Grašo | @lovregraso | lovre.graso@fer.hr |
| Academic title | Lecturer |
|---|---|
| Doc. Dr. Sc. | Đula Nađ |
| Prof. Dr. Sc. | Nikola Mišković |