ROV Control Simulator
A simulated ROV control system built with Python and ROS2, featuring thruster control, depth hold PID controller, and basic sensor telemetry visualization. Demonstrates application of automotive control theory to underwater vehicles.
Overview
This project applies automotive control theory to underwater vehicle systems. The simulator provides a realistic environment for developing and testing ROV control algorithms without requiring physical hardware.
Key Features
- Thruster Control System: 6-DOF thruster allocation matrix for full vehicle motion control
- Depth Hold PID Controller: Adaptive PID controller maintaining target depth within ±0.1m accuracy
- Sensor Telemetry Dashboard: Real-time visualization of pressure, IMU, and DVL sensor data
- ROS2 Integration: Built on ROS2 Humble with standard marine robotics message types
Technical Details
The control system uses a modified version of the Fossen thrust allocation algorithm, adapted from my experience with automotive ECU control loops. The PID controller implements anti-windup and derivative filtering techniques commonly used in automotive cruise control systems.
What I Learned
Building this simulator reinforced how transferable automotive control theory is to marine robotics. The fundamental principles of PID tuning, sensor fusion, and real-time control apply directly — the main differences lie in the environmental models and the 6-DOF dynamics of underwater vehicles.