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.
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
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