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Communication Dans Un Congrès Année : 2018

Analysis of coordination modes for multi-UUV based on Model Driven Architecture

Résumé

The aim of the present work is to analyze coordination modes for multiple unmanned underwater vehicles (UUV) which are an open-source and low-cost platform based on the Model Driven Architecture approach. The medium-term goal should be to transform an existing remote control system into an autonomous control system capable of multiple missions. Specially, we describe the general re-engineering process in the use-case of a coordination of two UUVs. The abstract model is studied and verified based on Matlab/Simulink. Furthermore, we propose a framework, which is able to support the development towards the real platform thanks to Robot Operating System (ROS) middleware and Gazebo simulator.
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Dates et versions

hal-03253821 , version 1 (02-06-2023)

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Citer

Thierry Soriano, Hoang Anh Pham, van Hien Ngo. Analysis of coordination modes for multi-UUV based on Model Driven Architecture. 2018 12th France-Japan and 10th Europe-Asia Congress on Mechatronics, Sep 2018, Tsu, France. pp.189-194, ⟨10.1109/MECATRONICS.2018.8495893⟩. ⟨hal-03253821⟩

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