kr1zzo / autonomous-control-for-h20mni-x

This repository is a part of the Marine-Robotics project at the Faculty of Electrical Engineering and Computing, University of Zagreb

Navigation and control of H20mni-X maritime robot

Project Description

Course : Marine Robotics

The goal of the project is the implementation of the navigation design process, guidance and control (NGC) algorithms for H20mni-x maritime robot. H20mni-X is an autonomous surface vehicle (ASV) that weighs about 20 kg and is placed in a pool that is monitored by localization cameras. H20mniX contains sensors such as a magnetometer and accelerometer and is equipped with ROS system for communication with Simulink model. The project consists of a simulation and a practical part.

Figure : H20mni-X

Seminar Documentation can be found in the Documentation/Seminar - Simulaton and Practical parts.pdf file

Implementation order

• Compensation of thruster nonlinearity - compensation of thruster nonlinearity ensures required thruster forces
• Control allocation - distribution of control, i.e. mapping of the generalized vector of forces and moments τ into individual thruster force requirements.
• PI heading controller - the heading controller needed to control the angle of the H2OmniX
• PID positioning controller - controller for placing the H2OmniX at the desired location in the pool.

Execution

In the Simulation and Matlab run the following files from the Simulation folder:

1. Load the required libraries with :

MarineRoboticsLib.slx

2. Input of desired position (x,y,yaw) and regulator parameters

Regulator.m

3. Simulink model - start by pressing the Run button and visualize the results using Scope blocks

main.slx

Results

The results can be found in the Documentation/seminar.pdf report.

//TODO: translate the report to English

Credits

© Faculty of Electrical Engineering and Computing, University of Zagreb, 2024

© Laboratory for Underwater Systems and Technologies (LABUST)

Contributors names and contact info

Author	GitHub	e-mail
Enio Krizman	@kr1zzo	[email protected]
Pero Drobac	@PeteHeat08	[email protected]
Lovre Grašo	@lovregraso	[email protected]

Academic title	Lecturer
Doc. Dr. Sc.	Đula Nađ
Prof. Dr. Sc.	Nikola Mišković