This project has received funding from the European Union’s Horizon 2020research and innovation programme under grant agreement No 690008.
AN AUTONOMOUS UNDERWATER EXPLORER FOR FLOODED MINES
UX-1 CONTROL, GUIDANCE AND AUTONOMY
NEMO 33, UNEXMIN FINAL CONFERENCE
26TH SEPTEMBER 2019
Sensor Fusion Low-level control
Guidance,
Navigat ion and
Control (GNC)
Localisat ion and
Mapping (SLAM)
UX-1
Data logging &
postporcessing
Mission
script
MISSION SCRIPT: ACTIONS
Navigation actions
Unknown map → explore
Know map → go to point (6D)
Payload actions
Take simple
Turn on…
MISSION SCRIPT: XML
MISSION SCRIPT: ACTIONS
Navigation
Unknown map → explore
Generate a waypoint 0,5 m ahead, centered, then go to point
GUIDANCE
Generate a trajectory of intermediate
waypoints with 0,5 m spacing
GUIDANCE
Simulations
GUIDANCE
Hardware-in-the-loop tests
NAVIGATION
CONTROL
CONTROL
Control: Feedback Lin., PIDhttps://vimeo.com/259423959
CONTROL
3500 4000 4500 5000 5500 6000-0.5
0
0.5
1
1.5
2
2.5
-0.2
0
0.2
0.4
0.6
0.8
1
Control: LQR, Feedback Lin.
0 500 1000 1500 2000 2500 3000 3500 4000-2
-1.5
-1
-0.5
0
0.5
1
1.5
2
0 20 40 60 80 100 120-0.5
0
0.5
1
1.5
2
2.5
3
-3
-2
-1
0
1
2
3
4
CONTROL
-10
12
34
56-1
-0.5
0
0.5
1
-0.5
0
0.5
1
1.5
2
2.5
Control Pool tests with Feedback Lin.
https://vimeo.com/321295926
CONTROL
-8-77
-612
6
11 -5
5
10 -4
4
9
3
-38
2
-27
1
-16
0
05
Janos Cave mission