Towards a Cyber-Physical System for Hydrobatic AUVs

Bhat, Sriharsha; Stenius, Ivan; Bore, Nils; Severholt, Josefine; Ljung, Carl; Balmori, Ignacio Torroba

doi:10.1109/oceanse.2019.8867392

Cited by 11 publications

(17 citation statements)

References 7 publications

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“…Cascaded flight controllers are used to command the propellers and thrust vectoring to maintain heading, depth and roll with respect to the target trajectory. These controllers act on state feedback and send commands to the actuators via a CAN-ROS link 5 . In addition, scripted sequences for hydrobatic maneuvering (e.g.…”

Section: ) Motion Planning and Controlmentioning

confidence: 99%

“…These use cases can lead to benefits in areas including ocean production, environmental sensing and security. To further explore such use cases while managing risks and costs, an idea of a cyber-physical system (CPS) for hydrobatic AUVs was introduced in [5] with the Swedish Maritime Robotics Center's AUV SAM as a case study. In such a cyber-physical system, a network of sensors and actuators is tightly coupled with software subsystems and simulation environments across multiple platforms, length and time scales.…”

Section: Introductionmentioning

confidence: 99%

“…This paper follows up on the initial CPS idea presented in [5], and contributes with real world validation of the idea with tests of entire missions for a single SAM AUV in field operating conditions (see Fig. 1), and multiple SAM AUVs in a simulation environment (see Fig.…”

Section: Introductionmentioning

confidence: 99%

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A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

Bhat

Torroba

Özkahraman

et al. 2020

2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043)

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Cyber-physical systems (CPSs) comprise a network of sensors and actuators that are integrated with a computing and communication core. Hydrobatic Autonomous Underwater Vehicles (AUVs) can be efficient and agile, offering new use cases in ocean production, environmental sensing and security. In this paper, a CPS concept for hydrobatic AUVs is validated in realworld field trials with the hydrobatic AUV SAM developed at the Swedish Maritime Robotics Center (SMaRC). We present system integration of hardware systems, software subsystems for mission planning using Neptus, mission execution using behavior trees, flight and trim control, navigation and dead reckoning. Together with the software systems, we show simulation environments in Simulink and Stonefish for virtual validation of the entire CPS. Extensive field validation of the different components of the CPS has been performed. Results of a field demonstration scenario involving the search and inspection of a submerged Mini Cooper using payload cameras on SAM in the Baltic Sea are presented. The full system including the mission planning interface, behavior tree, controllers, dead-reckoning and object detection algorithm is validated. The submerged target is successfully detected both in simulation and reality, and simulation tools show tight integration with target hardware.

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Section: ) Motion Planning and Controlmentioning

confidence: 99%

Section: Introductionmentioning

confidence: 99%

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A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

Bhat

Torroba

Özkahraman

et al. 2020

2020 IEEE/OES Autonomous Underwater Vehicles Symposium (AUV)(50043)

Self Cite

View full text Add to dashboard Cite

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“…As a response to this, the organisa- The transit flight performance of underwater gliders has been studied by Deutsch et al (2020). SMaRC has further been focusing on developing agility without the cost of endurance by studying hydrobatic capabilities of a slender-flight-style AUV, potentially offering disruptive designs in how to optimise the utilisation of onboard sensors and manipulators as well as extending the operational range (Bhat and Stenius 2018, Bhat et al 2019and Bhat et al 2020).…”

Section: Adjustments To Strengthen the Organisation And Collaborationsmentioning

confidence: 99%

“…New individual software packages, as well as the entire software system, can be rapidly tested to reduce risks. In addition, specific manoeuvres and control strategies can be verified in a higher fidelity simulator in Simulink, where the AUV dynamics are modelled more accurately (Bhat et al 2019). Both simulators are designed to offer the same communication interface as the real AUV.…”

Section: Demonstrator Programmementioning

confidence: 99%

SMaRC Swedish Maritime Robotics Centre : Mid-Term Evaluation Report 2020

2020

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Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV

Bhat

Panteli

Stenius

et al. 2023

Journal of Field Robotics

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Hydrobatic autonomous underwater vehicles (AUVs) can be efficient in range and speed, as well as agile in maneuvering. They can be beneficial in scenarios such as obstacle avoidance, inspections, docking, and under‐ice operations. However, such AUVs are underactuated systems—this means exploiting the system dynamics is key to achieving elegant hydrobatic maneuvers with minimum controls. This paper explores the use of model predictive control (MPC) techniques to control underactuated AUVs in hydrobatic maneuvers and presents new simulation and experimental results with the small and hydrobatic SAM AUV. Simulations are performed using nonlinear model predictive control (NMPC) on the full AUV system to provide optimal control policies for several hydrobatic maneuvers in Matlab/Simulink. For implementation on AUV hardware in robot operating system, a linear time varying MPC (LTV‐MPC) is derived from the nonlinear model to enable real‐time control. In simulations, NMPC and LTV‐MPC shows promising results to offer much more efficient control strategies than what can be obtained with PID and linear quadratic regulator based controllers in terms of rise‐time, overshoot, steady‐state error, and robustness. The LTV‐MPC shows satisfactory real‐time performance in experimental validation. The paper further also demonstrates experimentally that LTV‐MPC can be run real‐time on the AUV in performing hydrobatic maneouvers.

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Towards a Cyber-Physical System for Hydrobatic AUVs

Cited by 11 publications

References 7 publications

A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

A Cyber-Physical System for Hydrobatic AUVs: System Integration and Field Demonstration

SMaRC Swedish Maritime Robotics Centre : Mid-Term Evaluation Report 2020

Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV

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