A dynamic simulator for underwater vehicle-manipulators

Olivier Kermorgant 1, *
* Corresponding author
1 EAVR
ICube - Laboratoire des sciences de l'ingénieur, de l'informatique et de l'imagerie
Abstract : In this paper we present a dynamic simulator for intervention autonomous underwater vehicles. Prototyping and testing of such robots is often tedious and costly, and realistic simulation can greatly help validating several aspects of the project. In order to benefit from existing software, the presented system is integrated with ROS, through the Gazebo dynamic simulator, and the underwater image rendering UWSim. The whole approach allows realistic rendering of dynamic multi-robot simulation, with contact physics, buoyancy, hydrodynamic damping and low-level PID control. This paper details the modeling choices that are done and exposes how to build its own AUV model. Integration with other ROS programs is exposed, and a simulation shows an example of behavior during a black box recovery mission.
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https://hal.inria.fr/hal-01065812
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  • HAL Id : hal-01065812, version 2

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Olivier Kermorgant. A dynamic simulator for underwater vehicle-manipulators. International Conference on Simulation, Modeling, and Programming for Autonomous Robots Simpar, Oct 2014, Bergamo, Italy. ⟨hal-01065812v2⟩

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