Title :
Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study
Author :
J. J. Fernández;J. Pérez;A. Peñalver;J. Sales;D. Fornas;P. J. Sanz
Author_Institution :
Computer Science and Engineering Department, University of Jaume-I, Castelló
fDate :
5/1/2015 12:00:00 AM
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.
Keywords :
"Benchmark testing","Vehicle dynamics","Robots","Mathematical model","MATLAB","Kinematics"
Conference_Titel :
OCEANS 2015 - Genova
DOI :
10.1109/OCEANS-Genova.2015.7271514
