DEMO: Hydrobatics with underactuated AUV
In this demo we plan to demonstrate hydrobatic manoeuvres with a slender underactuated AUV for the purpose af maximising the usability of the sensor suite on board. As an example one could think of a hybrid mission where the AUV is first doing a lawn mover pattern as part of a search mission and if the AUV identifies a target of interest the mission can be momentarily interrupted in order to perform a detailed inspection with cameras. During the detailed inspection the AUV hoovers around the object of interest and aims the cameras to collect a complete set of video/images. We will demonstrated this close range hoovering and inspection manoeuvre and show how different control strategies can be utilised (classic PID control to more advanced methods such as LQR and MPC).