Design and Experiments on AUV Control System based on ROS

Abstract

As a specialized framework for the development of robotic software, Robot Operating System (ROS) has found extensive application in diverse vehicle designs. In this paper, we present a control system based on ROS for autonomous underwater vehicle (AUV) and detail the development of an AUV prototype, including the specific hardware and software system architecture. The simulation and field experiment results demonstrate that the AUV can successfully execute its fundamental functions and additional motion control tasks, facilitated by the designed ROS control system and control methods. It can be concluded that the proposed AUV design scheme based on ROS enables the AUV to exhibit exceptional functionality and user-friendliness.