UGSim: LQR制御と再帰的誘導を備えた浮力駆動型水中グライダーシミュレータ
UGSim: Autonomous Buoyancy-Driven Underwater Glider Simulator with LQR Control Strategy and Recursive Guidance System
浮力駆動型水中グライダー特有の複雑な流体力学・静水圧影響を扱えるシミュレータUGSimを開発し、LQR制御と再帰的誘導システムを実装してPetrel-IIの例で動作を実証した。
著者: Zhizun Xu, Yang Song, Jiabao Zhu, Weichao Shi
分類: cs.RO, cs.SE
原文アブストラクト
This paper presents the UGSim, a simulator for buoyancy-driven gliders, with a LQR control strategy, and a recursive guidance system. Building on the top of the DAVE and the UUVsim, it is designed to address unique challenges that come from the complex hydrodynamic and hydrostatic impacts on buoyancy-driven gliders, which conventional robotics simulators can't deal with. Since distinguishing features of the class of vehicles, general controllers and guidance systems developed for underwater robotics are infeasible. The simulator is provided to accelerate the development and the evaluation of algorithms that would otherwise require expensive and time-consuming operations at sea. It consists of a basic kinetic module, a LQR control module and a recursive guidance module, which allows the user to concentrate on the single problem rather than the whole robotics system and the software infrastructure. We demonstrate the usage of the simulator through an example, loading the configuration of the buoyancy-driven glider named Petrel-II, presenting its dynamics simulation, performances of the control strategy and the guidance system.
