LRAUV  revA
Vehicle control
  • Navigation Component
    • $\textcolor{red}{\bigodot}$ !! (MG, 1) simplistic (underestimates speed)
    • $\textcolor{red}{\bigcirc}$ !! (MG, 2) using internal dynamic simulation
    • $\textcolor{red}{\bigcirc}$ !! (RM, 2) including DVL information
    • $\textcolor{red}{\bigcirc}$ !! (RM, 2) including ADCP information
  • Dynamic Control Component
    • $\textcolor{green}{\spadesuit}$ simplistic
    • $\textcolor{green}{\spadesuit}$ Using Dorado Control Constants
    • $\textcolor{red}{\bigcirc}$ !! (RM, 2) Approximate Tethys Dynamic Control Constants
    • $\textcolor{red}{\bigcirc}$ –HS (RM, 5) Tuned Tethys Dynamic Control Constants
    • $\textcolor{red}{\bigcirc}$ –HS (RM, 3) Cross-track control
    • $\textcolor{red}{\bigcirc}$ !! (RM, 20) Develop control algorithms that can control buoyancy and movable mass.
    • $\textcolor{red}{\bigcirc}$ !! (RM, 10) Code Dynamic control that can control movable mass.
    • $\textcolor{red}{\bigcirc}$ –LS (RM, 10) Code Dynamic control that can control buoyancy.
    • $\textcolor{red}{\bigcirc}$ –LS (RM, 5) Dynamic Control optimizations to reduce energy usage