Named the Underwater Rigid Body Library (URBL), the modeling framework treats the effect of water on submerged bodies as interactions with a “field” of water to capture the effects of buoyancy and drag. Its usage is demonstrated by applying it to the BlueROV2, a commercially available ROV from Blue Robotics. Using controller signals to the propellers as system inputs, the model was tested with various motor command profiles to achieve different composite motions. Constant motor commands were provided both from within Modelica and from ROS; the simulation results indicated that the model responded appropriately.
Keywords: Underwater, ROV, Modelica, ROS, Framework
Proceedings of The American Modelica Conference 2018, October 9-10, Somberg Conference Center, Cambridge MA, USA
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SystemModeler (2015) Copyright © 2015 Wolfram Research, Inc. http://wolfram.com/system-modeler/ BlueROV2, Blue Robotics, Inc. http://docs.bluerobotics.com/brov2/