This repository provides detailed documentation and implementation guidelines for various aspects of marine mechatronics and autonomous navigation techniques using a BlueROV. It encompasses the implementation of heading and depth control, visual servoing, and sonar-assisted autonomous navigation.
Authors: Ayesha ASLAM, Worachit KETRUNGSRI, Yosef GUEVARA
Date: March 31, 2023
The practical work includes:
- Establishing the PWM vs thrust relation of the T200 thrusters.
- Validating the PWM vs thrust function experimentally.
- Estimating floatability and implementing proportional controllers for yaw and depth.
- Developing a trajectory compatible with the BlueROV's dynamics and implementing proportional integral controllers (PI) for the yaw and depth.
Date: June 2, 2023
Key points covered:
- An introduction to Image-Based Visual Servoing (IBVS).
- BlueROV camera characteristics and tuning for underwater conditions.
- In-depth code explanation and in-water testing for performance evaluation.
Date: June 3, 2023
Outlined process:
- Introduction to sonar-assisted autonomous navigation.
- Characteristics of the BlueROV Ping360 Sonar.
- Implementation strategies and state-based behavior for obstacle detection and free path exploration.
Each section concludes with insights on the system's behavior, potential for further improvements, and suggestions for future work to enhance the BlueROV's autonomy and navigation capabilities.
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