Complete SE3 underwater robot control with arbitrary thruster configurations

Marek Doniec, Iuliu Vasilescu, Carrick Detweiler, Daniela Rus

Research output: Chapter in Book/Report/Conference proceedingConference contribution

26 Scopus citations

Abstract

We present a control algorithm for autonomous underwater robots with modular thruster configuration. The algorithm can handle arbitrary thruster configurations. It maintains the robot's desired attitude while solving for translational motion. The attitude can be arbitrarily chosen from the special orthogonal group SO3 allowing the robot all possible orientations. The desired translational velocities can be chosen from R3 allowing the robot to follow arbitrary trajectories underwater. If the robot is not fully holonomic then the controller chooses the closest possible solution using least squares and outputs the error vector. We verify the controller with experiments using our autonomous underwater robot AMOUR. We achieve roll errors of 1.0 degree (2.1 degrees standard deviation) and pitch errors of 1.5 degrees (1.8 degrees standard deviation). We also demonstrate experimentally that the controller can handle both non-holonomic and fully holonomic thruster configurations of the robot. In the later case we show how depth can be maintained while performing 360 degree rolls. Further, we demonstrate an input device that allows a user to control the robot's attitude while moving along a desired trajectory.

Original languageEnglish (US)
Title of host publication2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Pages5295-5301
Number of pages7
DOIs
StatePublished - 2010
Externally publishedYes
Event2010 IEEE International Conference on Robotics and Automation, ICRA 2010 - Anchorage, AK, United States
Duration: May 3 2010May 7 2010

Publication series

NameProceedings - IEEE International Conference on Robotics and Automation
ISSN (Print)1050-4729

Other

Other2010 IEEE International Conference on Robotics and Automation, ICRA 2010
Country/TerritoryUnited States
CityAnchorage, AK
Period5/3/105/7/10

ASJC Scopus subject areas

  • Software
  • Control and Systems Engineering
  • Artificial Intelligence
  • Electrical and Electronic Engineering

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