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AmoghJuloori / Position-and-Velocity-Control-of-a-6-DOF-AUV

This repo describes our development in the process of using the best suited control algorithm aimed to be the framework on which an AUV's motion works. This project is an effort in reaching our aspiration as a part of BITS Pilani, Hyderabad Campus; to participate in the Singapore Autonomous Underwater Vehicle Challenge- SAUVC.
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6-DOF-AUV position and speed control of some reference data problems in this project #1

Open Hhuluwa opened 11 months ago

Hhuluwa commented 11 months ago

Hello author, I am interested in your project and I am also studying your report now, but I would like to know where the data in your project came from. Are there any references or given titles that contain these data? If so, could you share with me? Thank you very much

AmoghJuloori commented 11 months ago

Hello @Hhuluwa , thank you for your interest in the project. To the best of my knowledge, the data included in the report is either taken from one of the references (6-DoF Modelling and Control of a Remotely Operated Vehicle) stated at the end or a part of our own experimental results. You can also check out the other documentation from BlueROV for other related details. Hope this helps!

Hhuluwa commented 11 months ago

Hello author, I'm sorry to bother you again, in your PID linear module, I would like to ask you a few questions, the first question is why in the dynamics module where the input of velocity is the order of vv(1)vv(1)vv(1)vv(2)vv(4)vv(5)vv(6), instead of the order of vv(1)vv(2)vv(3)vv(4)vv(5)vv(6), shouldn't it be the order of uvwpqr? If you change the order to the latter, it will not work properly. The second question is whether the expectations given are obtained through your own experiments, and the results of my change of values do not seem to be very stable, or even impossible.Can I add your contact information, I want to continue to ask you if I have any questions later

AmoghJuloori commented 5 months ago

Hey @Hhuluwa , I apologise for the late response. As for your first question, I checked the model and even I am not sure about the reason behind the order of the input velocities - it seems to be a mistake but I'll have to look into it. But since the PID is simply an implementation of the paper, it should work once you fine tune it. Regarding the expectations, as per my knowledge we had given random values as expectations and generated the graphs so it should work. I'll modify the model and update it if possible. Thanks for your questions! In case you are still interested in the project, you can contact me at julooriamogh@gmail.com