search

osrf / vrx

Virtual RobotX (VRX) resources.
Apache License 2.0
432 stars 193 forks source link

Propulsion: Refining the thrust model #98

Open osrf-migration opened 5 years ago

osrf-migration commented 5 years ago

Original report (archived issue) by Brian Bingham (Bitbucket: brian_bingham).

The thruster plugin implements a mapping from command values to force. A linear and non-linear mapping is available (see the Theory of Operation document). The default non-linear mapping uses parameters to reproduce the empirical thruster curve measured by the FAU team. We should do some investigation to determine how representative that thruster model is - how does it compare to the thrusters used by other teams.

This would probably require looking into the RobotX documentation provided by the 2016 and 2018 teams to see what variety there is in terms of thruster implementation. It might also be worthwhile to engage with the VRX teams for 2019 to see if they have more information on their thruster behavior that might be useful in determining a model that is generally acceptable to all.

For the purposes of VRX, we can probably get away with a model that is a best-case scenario - generating high-force - so that teams aren’t artificially limited by the control authority.

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

osrf-migration commented 5 years ago

Original comment by Carlos Agüero (Bitbucket: caguero, GitHub: caguero).

M1chaelM commented 2 years ago

This issue references the old theory of operation document, which has been replaced by the paper Toward Maritime Robotic Simulation in Gazebo. It looks like the non-linear thruster model is still the same.

It looks like the journal papers are posted here:

I can review the papers to see what teams are using for the thruster models. @bsb808 Before I start I just want to check that this is still needed and hasn't already been done.