Enregistré dans:
| Auteurs principaux: | , , , , , |
|---|---|
| Format: | Preprint |
| Publié: |
2026
|
| Sujets: | |
| Accès en ligne: | https://arxiv.org/abs/2605.14683 |
| Tags: |
Ajouter un tag
Pas de tags, Soyez le premier à ajouter un tag!
|
| _version_ | 1866917495615520768 |
|---|---|
| author | Amer, Abdelhakim Alstrup, Aske Rasmussen, Frederik Brodskiy, Yury Sarabakha, Andriy Kayacan, Erdal |
| author_facet | Amer, Abdelhakim Alstrup, Aske Rasmussen, Frederik Brodskiy, Yury Sarabakha, Andriy Kayacan, Erdal |
| contents | High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated towed vehicles (ROTVs) and develops a gain-scheduled linear-quadratic regulator (LQR) for robust depth and attitude control. We validate the approach in a high-fidelity simulation, benchmarking the LQR against a conventional PID controller over a challenging seabed profile. The presented results demonstrate the LQR's superior performance, with significantly enhanced robustness to disturbances, greater control efficiency, and substantially reduced flap actuation. The gain scheduling also confirms the controller's effectiveness across the full operational velocity range. The complete simulation environment and controller are open-sourced. |
| format | Preprint |
| id |
arxiv_https___arxiv_org_abs_2605_14683 |
| institution | arXiv |
| publishDate | 2026 |
| record_format | arxiv |
| spellingShingle | SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping Amer, Abdelhakim Alstrup, Aske Rasmussen, Frederik Brodskiy, Yury Sarabakha, Andriy Kayacan, Erdal Robotics Systems and Control High-resolution seafloor mapping necessitates stable and precise positioning for underwater robots. This paper introduces a novel mathematical model for SeaVis remotely operated towed vehicles (ROTVs) and develops a gain-scheduled linear-quadratic regulator (LQR) for robust depth and attitude control. We validate the approach in a high-fidelity simulation, benchmarking the LQR against a conventional PID controller over a challenging seabed profile. The presented results demonstrate the LQR's superior performance, with significantly enhanced robustness to disturbances, greater control efficiency, and substantially reduced flap actuation. The gain scheduling also confirms the controller's effectiveness across the full operational velocity range. The complete simulation environment and controller are open-sourced. |
| title | SeaVis: Modeling and Control of a Remotely Operated Towed Vehicle for Seabed Visualization and Mapping |
| topic | Robotics Systems and Control |
| url | https://arxiv.org/abs/2605.14683 |