Trajectory Control for Autonomous Working Submersibles
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This master thesis describes the development of a trajectory control system for autonomous underwater vehicles. The system enables geometric models to follow three dimensional paths, while orientation is controlled by modeled support geometry. Paths are modeled as networks, allowing for multiple routes between two nodes. Both vehicle, and manipulator type movement can be controlled. A typical serial manipulator has been modeled and an inverse kinematics solver has been implemented. A desktop sized manipulator with programmable servo motors has been connected, and can mirror the motion of the modeled robot. The system has been developed as a number of software modules, connected to GeoMod, a program for geometric modeling. The modules have been developed using C++ and Qt and are intended as a framework for further development of autonomous systems.