From Virtual Waters to Real Oceans: A Simulation-Driven Approach to ROV Control System Design
In this paper the software-in-the-Ioop (SIL) approach employed at NTNU's Applied Underwater Robotics Lab-oratory (AUR-lab) for developing control system software for underwater vehicles is described. An underwater simulator based on Gazebo is presented, and the software structure that allows us to transition from simulations to field trials is explained. Multiple examples are given of systems that are developed in simulation and then applied to real-world experiments.
Authors
- Martin Ludvigsen
- Erlend A. Basso (ORCID: https://orcid.org/0000-0002-6025-4825)
- Ambjørn Grimsrud Waldum
- Markus Fossdal
Institutions
- Norwegian University of Science and Technology (NO)
Publication Details
- Published
- 2025-03-02
- DOI
- https://doi.org/10.1109/ut61067.2025.10947400
- Citations
- 1
- Primary Topic
- Underwater Vehicles and Communication Systems
- Type
- article
- Field-Weighted Citation Impact
- 1.15