基于ROS的自持式AUV控制系统设计研究

Research on the Design of a Self-Sustaining AUV Control System Based on ROS

摘要:

本文以自持式AUV为研究对象，在基于ROS开发平台的基础上对航行器控制系统进行设计，并以Raspberry Pi+Arduino为主控平台搭建完成一套控制系统，采用传统的PID和扩展卡尔曼滤波器对航行器进行运动控制。最后利用Matlab/Simulink与ROS联合对其进行仿真。验证ROS在对航行器的系统开发和仿真设计方面的适用性与有效性。

Abstract:

This paper focuses on a self-sustaining AUV as the research subject. Based on the ROS development platform, the control system of the vehicle is designed, and a control system is implemented using a Raspberry Pi + Arduino as the main control platform. Traditional PID and an extended Kalman filter are employed for motion control of the vehicle. Finally, co-simulation is conducted using Matlab/Simulink and ROS to validate the applicability and effectiveness of ROS in the system development and simulation design of the vehicle.