RWTH Aachen University, Institute of Automatic Control (IRT)

Goals to be achieved

Goal of the Institute of Automatic Control (IRT) of RWTH Aachen University is to design a concept for state estimation, control as well as path planning of the nanoAUV. Furthermore, the IRT oversees the development of the guidance, navigation and control (GNC) module.

Tasks within the project

  • Development and real-world testing of a robust and accurate navigation filter for the nanoAUV which fuses model information as well as acoustic, inertial and pressure sensor measurements
  • Concept development for a trajectory planner focusing on collision avoidance, safety and energy-efficiency
  • Implementation of a controller for dynamic positioning capabilities and trajectory tracking
  • Managing and connecting the GNC contributions

Preliminary work

IRT develops algorithms for state estimation, trajectory planning and trajectory tracking control for autonomous ground, aerial and water vehicles. During past research projects, experience in the field of integrating algorithms on hardware for variety of practical control problems has been obtained.

Examples of autonomous vehicles with integrated guidance, navigation and control (GNC) system, developed at the Institute of Automatic Control of RWTH Aachen University.

Implementation steps

  • Concept development of GNC modules
  • Requirement analysis considering space domain specific challenges
  • Simulation-driven implementation and optimization
  • Evaluation and validation of the navigation filter concept in an application-analog environment with a prototyping breadboard model

Points of Contact

Jan-Jöran Gehrt (IRT Project Leader), j.gehrt@irt.rwth-aachen.de

Maximilian Nitsch (GNC Coordination and Navigation Filter), m.nitsch@irt.rwth-aachen.de

David Stenger (Control and Path-Planning), d.stenger@irt.rwth-aachen.de

Our Website: https://www.irt.rwth-aachen.de/cms/~iung/IRT/?lidx=1