Hardware in the Loop Simulator for a Coral Reef Monitoring Robot (C-Bot)

Gupta, M and Maurya, P (2022) Hardware in the Loop Simulator for a Coral Reef Monitoring Robot (C-Bot). In: OCEANS 2021: San Diego - Porto, 20 September 2021 through 23 September 2021, San Diego.

PDF IEEE_OCEANS_2021.pdf - Published Version Restricted to Registered users only Download (862kB) | Request a copy

Abstract

Ocean exploration and monitoring are vital to discover new resources and check the effects of pollution on marine health. Recent studies are focused on deploying remotely operated or autonomous underwater vehicles to achieve this task. However, a hybrid underwater vehicle (HROV) proves to be much more effective in performing such operations since it can be operated both as a remotely operated vehicle (ROV) and an autonomous underwater vehicle (AUV). This paper presents hardware in the loop (HIL) simulation developed for C-Bot HROV using ROS middleware and Gazebo simulator. This technique is essential to safely test the algorithms, especially the control and guidance algorithms on the vehicle hardware in a simulated underwater environment without operating it in the real world. The mission file for autonomous vehicle operation is defined using a custom tag-based approach. A python-based graphical user interface (GUI) is developed to monitor and command the vehicle from the ground control station (GCS). The sensor data visualization is performed using RViz on the GCS. © 2021 MTS.

Item Type:	Conference Paper
Publication:	Oceans Conference Record (IEEE)
Publisher:	Institute of Electrical and Electronics Engineers Inc.
Additional Information:	The copyright for this article belongs to the Institute of Electrical and Electronics Engineers Inc.
Keywords:	Autonomous underwater vehicles; Graphical user interfaces; Hardware-in-the-loop simulation; Marine pollution; Middleware; Remote control; Remotely operated vehicles; Synthetic apertures, Coral reef; Ground-control stations; Hardware in the loop simulator; Hardware in the loops; Hybrid underwater vehicle; Mission primitive.; Monitoring robot; Ocean monitoring; Tag-based, Data visualization
Department/Centre:	Division of Mechanical Sciences > Aerospace Engineering(Formerly Aeronautical Engineering)
Date Deposited:	16 May 2022 06:30
Last Modified:	16 May 2022 06:30
URI:	https://eprints.iisc.ac.in/id/eprint/71672

Actions (login required)

View Item