UNMANNED UNDERWATER VEHICLESIMULATORENABLING THE SIMULATION OF MULTIROBOT UNDERWATER MISSIONS WITHGAZEBOMUSA MORENA MARCUSSO MANHÃESCORPORATE SECTOR RESEARCH AND ADVANCE ENGINEERING (CR)Robert Bosch GmbHRENNINGEN – GERMANY
ROSCon 2018 – 29.08.2018

Motivation
EU-Project SWARMs (Smart and Networking Underwater Robots
in Cooperation Meshes)?

Testing algorithms for underwater manipulation?

?

Planning missions strategies

Behavior of the vehicles under different types of disturbances and failurescenarios

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Motivation
Why use simulation?
 Mission with multiple underwater vehicles are
expensive and time consuming Communication issue Even in best case scenarios, acoustic
communication with underwater vehicles issparse Collision avoidance is still difficult, limited
perception capabilities Difficult to repeat and/or reproduce certain
missions in real life, such as plume tracking Evaluation through simulation of themission before deployment is crucial

3Vehicles from the 3rd SWARMs mission demonstration in Trondheim, Norway

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Overview
UUV Simulator
Published on November 2016 on GitHub and still indevelopment
Set of packages with Gazebo plugins and ROS modules
to enable simulation of underwater vehiclesSimulation packages (Gazebo and ROS):• uuv_simulator• uuv_plume_simulator• uuv_manipulators

Underwater vehicle packages:• eca_a9• desistek_saga• rexrov2• lauv_gazebo

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Overview
Some examples of plugins
Gazebo plugins

Command and control

Thruster plugin

Thruster manager

Fin plugin

Trajectory controlUnderwater object plugin

Gazebo sensor plugins
Particle concentration sensor

World plugins
Current velocity plugin
Plume simulation

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UUV Simulator

Underwater object plugin

Fossen’s equation of motion for marine crafts [1]Plugins

Provided by Gazebo’s
physics engine

World plugins

Sensors
URDF•••••

Added-mass coefficients
Linear and quadratic damping coefficients
VolumeFluid density
Center of buoyancy

Command and control

6[1] Fossen, Thor I. Handbook of marine craft hydrodynamics and motion control. John Wiley & Sons, 2011.

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UUV Simulator

Thruster and fin plugins

Thrusters

Fins

Plugins

World pluginsSensors𝑢
Command and control

7DynamicmodelΩSteady-statefunction

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𝑢Fin’s joint
dynamicmodel

𝛼Lift and dragmodel𝜏UUV Simulator

Current velocity

Plugins

World plugins

Sensors

Command and control

8• Gazebo world plugin for generation of current velocity topics• 3D current velocity• Constant currents or based on Gauss-Markov processes• Configurable through ROS services

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UUV Simulator

Plume simulator

Plugins

World pluginsSensors

Command and control• Simulation of plume particles subject to current fields and buoyancy, and a particle concentration sensor basedon [1]• Implementation of a plume particle concentration sensor• ROS package published in https://github.com/uuvsimulator/uuv_plume_simulator• Used as a software in the loop component for the tests on motion planning for plume tracking algorithms on thereal vehicle mission of the SWARMs project in Norway, June 2018[1] Yu Tian and Aiqun Zhang, “Simulation environment and guidance system for AUV tracing chemical plume in 3-dimensions,” 2010 2nd International Asia

9Musa Morena Marcusso Manhães - CR/AEI | 2018-09-29
Conference on Informatics in Control, Automation and Robotics (CAR 2010), Mar. 2010.
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UUV Simulator
Sensors

Particle concentration sensor

Plugins

World pluginsSensors

Command and control

10[1] Yu Tian and Aiqun Zhang, "Simulation environment and guidance system for AUV tracing chemical
plume in 3-dimensions," 2010 2nd International Asia Conference on Informatics in Control, Automationand Robotics (CAR 2010), Mar. 2010.

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UUV Simulator

Thruster manager/tf

Plugins/<vehicle>/thruster_1

𝝉1𝑩†
Thrusterallocation matrix

World plugins

Sensors

Command and control

11𝝉0Musa Morena Marcusso Manhães - CR/AEI | 2018-09-29© Robert Bosch GmbH 2018. All rights reserved, also regarding any disposal, exploitation, reproduction, editing, distribution, as well as in the event of applications for industrial property rights.

…

6-DOFcontroller𝝉𝒄 ∈ ℝ𝟔/<vehicle>/thruster_0/<vehicle>/thruster_n𝝉𝑛

UUV Simulator

Trajectory control

Plugins

World pluginsSensors

Command and control

12

1. Trajectory tracking controllers for thruster actuated
3. Python API for fast and easy development of newvehicles
custom controllers• Model-free sliding mode [1]4. Waypoint interpolators for path generation, including• PID• splines• PD with restoring forces compensation• linear interpolation with polynomial blends• Singularity-free trajectory controller [2]• Dubins path algorithm
2. For AUVs with control surfaces, a geometric PD-based
controller is available[1] L. G. García-Valdovinos et al., “Modelling, Design and Robust Control of a Remotely Operated Underwater Vehicle,” International Journal of Advanced Robotic Systems, vol. 11, no. 1, p. 1, Jan. 2014.
[2] O.-E. Fjellstad and T. I. Fossen, “Singularity-free tracking of unmanned underwater vehicles in 6 DOF,” Proceedings of 1994 33rd IEEE Conference on Decision and Control.

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Use-cases
Cooperative seabed mapping 2nd SWARMs demonstration mission in Mangalia, Romania (2017)
 Description
 Deployment of 8 underwater vehicles (6 AUVs and 2 ROVs) by the coast of Mangalia, Romania, for seabedmapping of a large area

 Objectives
 Test the nominal mission for extraction of a seabed bathymetry map Test the functionalities of the RSOA (Robot System Onboard Architecture, developed by ONERA) installed oneach vehicle designed to detected abnormal situations and re-plan the mission accordingly, such as‒ Loss of power for thruster output‒ Sonar failure during the mission

 Vehicles:

RexROV 2
ECA A9 AUV

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ROSCon 2018

Mangalia coast outline

Vessels marking thepoints of deployment

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ROSCon 201815

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Nominal seabed mapping mission
Add full_nominal mission

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16x

Use-cases
Fresh water plume tracking
 3rd SWARMs demonstration
mission in Trondheim, Norway(2018) Description
 Deploy multiple AUVs in different
depths to find and track a fresh
water plume at the Trondheim
Fjord in Trondheim, Norway

 Objectives
 Test maneuver strategies to track
the plume as efficiently as
possible using the variations ofsalinity value using the RSOA Vehicle:
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LAUVROSCon 2018
LAUV – Noptilus 2

LAUV – Fridtjof
18

Surface vessel
Telemetron

LAUV – Noptilus 1

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Salinity measurements fromthe three LAUVs
Courtesy: ONERAUse-cases
Camera-assisted underwater manipulation
 3rd SWARMs
demonstration mission in
Trondheim, Norway (2018)
 Description:
 Showcase the possibility ofusing visual markers toassist the on the control ofposition and orientation of
the end-effector to turnvalves on a panel

 Vehicle:
RexROV 2
Full video at https://www.youtube.com/watch?v=vKMR8-7WRF4
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Future steps
 The UUV simulator project will be continued still as an open-source project after the SWARMs
project is over Improvement of sensor plugins, specially acoustic-based Improve the scenarios (underwater visual effects)

 Improve the underwater manipulation packages

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Important links UUV Simulator’s documentation: https://uuvsimulator.github.io/
 UUV Simulator: https://github.com/uuvsimulator/uuv_simulator
 Underwater vehicle packages:
 Desistek SAGA ROV: https://github.com/uuvsimulator/desistek_saga

 ECA A9 AUV: https://github.com/uuvsimulator/eca_a9
 RexROV 2: https://github.com/uuvsimulator/rexrov2
 LAUV: https://github.com/uuvsimulator/lauv_gazebo

 Plume simulator: https://github.com/uuvsimulator/uuv_plume_simulator

RexROV 2LAUVDesistek SAGA ROV21

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ECA A9 AUV

Acknowledgments Robert Bosch GmbH Sebastian Scherer Luiz Ricardo Douat Thomas Winkler

 SWARMs project partners
 Vehicle parameters, meshes (ECA A9 AUV and Desistek SAGA ROV) Feedback Pull requests
 Bug reports

 Contributors on GitHub
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THANKYOU
CONTACT: musa.marcusso@de.bosch.com