A tool chain for AUV system testing

Abstract

Developing algorithms and parameterizing controllers for autonomous underwater vehicles are tasks which needs excessive testing. Therefore, we developed an environment and a tool chain for these difficult and mostly expensive tasks. This tool chain consist of different steps for implementing algorithms from the idea to mission ready. These steps include rapid prototyping, simulation testing, testing in controlled environments and finally productive testing. As an example we chose the development of a distance controller, which is required for inspection tasks.