MOCAV-G500 2.0 : Model-based control architecture for an Autonomous Underwater Vehicle in an offshore environment

Technology provider: University of Girona (UdG)
End User: Tampere University (Finland)
Dates: 21/09/2020 - 25/09/2020
GOAL: Test an evolution of the controllers developed in MOCAV project at sea

The controllers developed during MOCAV were improved and a Line-of-Sight (LOS) controller was added. The initial tests were done remotely in the water tank while maintaining direct connection with the Tampere researches and providing them with real-time video feedback while they were executing their code remotely in the vehicle. Once at sea, several tests were done to compare the position control with the previously developed ones and several missions using LOS controllers were also tested. Like in the first TNA, the algorithms were developed in Matlab Simulink and automatically compiled to ROS.