Hardware-in-The-Loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV

Subramanian, S and George, T and Thondiyath, A (2012) Hardware-in-The-Loop verification for 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV. In: International Conference on Robotics and Biomimetics, 11-14 December, 2012, Guangzhou; China.

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Abstract

Hardware-in-The-Loop (HIL) simulations play a major role in the field of testing of Autonomous Underwater Vehicle (AUV) well before the actual vehicle is developed and deployed in the water. This paper discusses the real-Time verification of a 3D obstacle avoidance algorithm of an underactuated flat-fish type AUV using hardware-in-The-loop simulation tool. Software-In-The-Loop (SIL) models are developed in MATLAB/Simulink environment and the HIL simulation is performed using dSPACE environment. The development of HIL test bench and the simulation results are presented in this paper. The results show that the HIL simulation is an effective tool for the verification of control algorithms and the developed obstacle avoidance algorithm can be used in real-Time for the flat-fish type AUV

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IITH Creators:

IITH Creators	ORCiD

Item Type:

Conference or Workshop Item (Paper)

Uncontrolled Keywords:

Effective tool; Hard-ware-in-the-loop; Hardware in-the-loop simulation; HIL simulations; MATLAB/Simulink environment; Obstacle avoidance algorithms; Of autonomous underwater vehicles; Software in the loop(SIL)

Subjects:

?? sub4.9 ??

Divisions:

Department of Mechanical & Aerospace Engineering

Depositing User:

Team Library

Date Deposited:

28 Oct 2014 10:50

Last Modified:

28 Oct 2014 10:50

URI:

http://raiithold.iith.ac.in/id/eprint/483