面向水动力水下机器人的信息物理系统

Sriharsha Bhat, Ivan Stenius, Nils Bore, Josefine Severholt, Carl Ljung, Ignacio Torroba Balmori
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引用次数: 10

摘要

网络物理系统(cps)包括传感器和执行器网络,由计算和通信核心监控、控制和集成。随着自主水下航行器(auv)变得更加智能和互联,在海洋生产、安全和环境监测方面的新用例变得可行。成群的小型、经济实惠的水基auv可用于物质云跟踪和藻类养殖,CPS将auv与多保真度模拟连接起来,可以提高性能,同时降低风险和成本。在本文中,我们提出了一个CPS概念,将ROS中的AUV网络与使用Simulink和Gazebo的虚拟验证紧密连接起来。描述了使用开源UAVCAN-ROS桥的健壮的硬件软件接口,用于实现硬件在环验证。介绍了水基SAM水下航行器的硬件特点,重点介绍了子系统的集成。结果包括控制器的预整定、任务计划的仿真验证和坦克试验中子系统的实时性能。这些初步结果展示了不同系统元素之间的互连,并提供了概念验证。
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Towards a Cyber-Physical System for Hydrobatic AUVs
Cyber-physical systems (CPSs) encompass a network of sensors and actuators that are monitored, controlled and integrated by a computing and communication core. As autonomous underwater vehicles (AUVs) become more intelligent and connected, new use cases in ocean production, security and environmental monitoring become feasible. Swarms of small, affordable and hydrobatic AUVs can be beneficial in substance cloud tracking and algae farming, and a CPS linking the AUVs with multi-fidelity simulations can improve performance while reducing risks and costs. In this paper, we present a CPS concept tightly linking the AUV network in ROS to virtual validation using Simulink and Gazebo. A robust hardware-software interface using the open-source UAVCAN-ROS bridge is described for enabling hardware-in-the-loop validation. Hardware features of the hydrobatic SAM AUV are described, with a focus on subsystem integration. Results presented include pre-tuning of controllers, validation of mission plans in simulation and real time subsystem performance in tank tests. These first results demonstrate the interconnection between different system elements and offer a proof of concept.
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