Ambiente de simulação para o sistema de exploração robótica subaquática UNEXMIN

• Autor(a) principal: Sytnyk, Denys
• Data de Publicação: 2018
• Tipo de documento: Dissertação
• Idioma: eng
• Título da fonte: Repositório Científico de Acesso Aberto de Portugal (Repositórios Cientìficos)
• Texto Completo: http://hdl.handle.net/10400.22/12431
• topic: Underwater Simulation; Exploration; Simulation; Gazebo; Mines; AUV; UNEXMIN; ROS; Simulação Submarina; Exploração; Simulação; Minas; Sistemas Autónomos

Underwater mines exploration is a valued, complex, expensive and time-consuming task. The unstable nature of the underwater environment with lack of visibility and the existence of obstructions create the need for complex navigation software which requires numerous missions and hardware/software validations. When testing and verifying control algorithms for such an operation, a simulation environment can be a very helpful tool. This also includes tools for the development of unmanned vehicle software, algorithm benchmarking and system preliminary validation. The objective in this thesis was to start the development of a simulation platform that can be used when developing and testing control systems for AUV operations. The simulator will include a dynamic model of an AUV in addition to complex world and sensor models such as DVL, IMU, Multibeam, Mechanical Scanning Imaging Sonar (MSIS), cameras, SLS and others. The simulated world includes water graphics, mine meshes, underwater visibility, currents, and hydrodynamics. Control of the robot in simulation is performed by keyboard or joystick over thrusters. The platform must be universal, such that users can implement their own algorithms easily and get immediate simulation results without needing to implement a complete control system. There should also be an easy transition between testing the control system on the simulated AUV and applying it to the real AUV. Robot Operating System (ROS) and Gazebo were used in the development of the platform. The platform with sensors and navigation was validated with real-world tests comparison.