Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study


TitleBenchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study
Publication TypeConference Paper
Year of Publication2015
AuthorsFernández, JJ, Pérez, J, Peñalver, A, Sales, J, Fornas, D, Sanz, PJ
Conference NameOceans'15 MTS/IEEE Genova
Date Published05/2015
Conference LocationGenova (Italy)
ISBN Number978-1-4799-8736-8
Accession Number15458076
Keywordsbenchmarking, free floating contro, I-AUV, simulation, underwater autonomous intervention, UWSim
Abstract

This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of archaeology dredging.

DOI10.1109/OCEANS-Genova.2015.7271514