Robotics paper index
SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping
One-line summary
The paper introduces a gain-scheduled LQR for improved control of SeaVis ROTVs, outperforming conventional methods.
Engineering notes
The advancements in control allow for more efficient and stable operations in high-precision tasks such as seabed mapping. The open-sourced simulation environment and controller provide valuable resources for further research and application in underwater robotics.
Chinese explanation / 中文解读
本文介绍了一种新颖的数学模型，用于遥控拖曳车辆SeaVis的控制和海底可视化。通过增益调度线性二次调节器（LQR）实现深度和姿态的稳健控制，并在高保真仿真中验证了该方法的效果，与传统PID控制器相比，LQR显示出更好的抗干扰能力和控制效率。
Original abstract
High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated towed vehicles (ROTVs) and develops a gain-scheduled linear-quadratic regulator (LQR) for robust depth and attitude control. We validate the approach in a high-fidelity simulation, benchmarking the LQR against a conventional PID controller over a challenging seabed profile. The presented results demonstrate the LQR's superior performance, with significantly enhanced robustness to disturbances, greater control efficiency, and substantially reduced flap actuation. The gain scheduling also confirms the controller's effectiveness across the full operational velocity range. The complete simulation environment and controller are open-sourced.
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