TorpedoAUV

Description

A generic torpedo-style AUV with four fins.

See the TorpedoAUV.

Control Abstractions

scheme_rudders_sterns_motor_speed

The primary low-level control for the TorpedoAUV actuators.

Format: A 5-length vector [rudder_top, rudder_bottom, stern_left, stern_right, rpm].

Actuators:

• rudder_top/bottom: Control the vertical fins for Yaw (left/right).

• stern_left/right: Control the horizontal planes for Pitch (up/down).

• rpm: Controls the main rear propeller thrust.

Note: Since it’s a fin-steered vehicle, you must have forward velocity (RPM > 0) for the rudders/sterns to generate lift and turn the agent.

scheme_depth_heading_rpm_surge

An intermediate abstraction that uses internal PIDs to maintain specific navigation states. Format: A 4-length vector [depth, heading, rpm, surge].

Parameters:

• depth: Target depth in meters (negative values).

• heading: Target yaw orientation in degrees or radians (depending on agent config).

• rpm: Base motor speed.

• surge: Desired forward speed component.

scheme_accel

Applies direct linear and angular accelerations to the agent in the global frame.

Format: A 6-length vector [lin_acc_x, lin_acc_y, lin_acc_z, ang_acc_x, ang_acc_y, ang_acc_z].

Sockets

All sockets have standard orientation unless stated otherwise. Standard orientation has the x-axis pointing towards the front of the vehicle, the y-axis pointing starboard, and the z-axis pointing upwards.

Socket Definitions

• COM Center of mass.

• CameraSocket Location of camera, rotated -90 on y-axis.

• DVLSocket Location of the DVL

• IMUSocket Location of the IMU.

• DepthSocket Location of the depth sensor.

• SonarSocket Location of the sonar sensor, rotated -90 on y-axis.

• Viewport where the robot is viewed from.

Socket Frames