• DocumentCode
    3657508
  • Title

    Benchmarking using UWSim, Simurv and ROS: An autonomous free floating dredging intervention case study

  • Author

    J. J. Fernández;J. Pérez;A. Peñalver;J. Sales;D. Fornas;P. J. Sanz

  • Author_Institution
    Computer Science and Engineering Department, University of Jaume-I, Castelló
  • fYear
    2015
  • fDate
    5/1/2015 12:00:00 AM
  • Firstpage
    1
  • Lastpage
    7
  • Abstract
    This paper proposes the use of UWSim (an underwater simulator) in combination with Simurv (a kinematic and dynamic library for Underwater Vehicle-Manipulator Systems control algorithms) and ROS (a well-known robotics framework) in order to simulate the dynamics of an Intervention Autonomous Underwater Vehicle and its application to the benchmarking of autonomous control algorithms in the field of archaeology dredging.
  • Keywords
    "Benchmark testing","Vehicle dynamics","Robots","Mathematical model","MATLAB","Kinematics"
  • Publisher
    ieee
  • Conference_Titel
    OCEANS 2015 - Genova
  • Type

    conf

  • DOI
    10.1109/OCEANS-Genova.2015.7271514
  • Filename
    7271514
    • Link To Document
    https://search.isc.ac/dl/search/defaultta.aspx?DTC=49&DC=3657508