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Autonomous Vehicle Software Framework - Part 1 - Testing the Basic Structure and Calibration
Autonomous Vehicles are self actioned vehicle performing its decisions with the help of Sensors Associated with the vehicle and there has been different operations along with the vehicle to be performed. Autonomous vehicles consist of the

1. Mechanical Frame 2. Electronics Such as BLDC Motors,PCB's 3. Sensors such as GNSS,IMU,SONAR 4. Hardware Such as Hard-drive,Backplane 5. Software Such as Mission Plan,Navigation Software 6. Algorithms - Mathematics 7. Programming - C/C++/Python

Its conglomerate of all the engineering concepts together jointly working and developing performances on their own such as inhibiting the human replication of decisions performing as like remote operation but there are huge difference in the vehicle operations and classification as Autonomous vehicles carry out operations without any human interference

The software controls the vehicle once the mechanical design is been completed and to perform the very basic operations of hooking up the thrusters and carry out the floating test

1. Floating Test - Performed to make the vehicle sure to carry out the float in the water and also to perform the center of gravity which holds the exact center of the vehicle which performs the equalizing calculation in which the forces acting on the body been transferred across the body of the vehicle, Upon this floating test completed and there has to be fluid dynamics analysis as well hydrodynamics

2.Thruster Test - As Soon the completion of the floating test, thrusters with Vector Configuration with 6 Axis Support to perform the thrust force action and also the results of the hydrodynamics Testing will resultant in the thruster configuration (Transverse/Longitudinal/Axial Direction) and the same thrusters is been configured and controlled with PID Controllers to perform the autonomy action

3. Stable Testing with Thrusters - Once the Thruster connected, the same mechanical framework along with the thrusters is been dropped on the surface of the water and perform the static testing where in to hold the vehicle to stay in singular position with the help of thrusters also to steam around up and down in the water column in surface then mid sea and full bottom

All these test performed with Software control except the floating test which is more mechanical in nature other softwares are done with Static Test bed calibration model where the vehicle thrust feedback is been studied and the same is been taken into the software for vehicle navigation calculations and thrust force

We have used the following packages for the testing of the vehicle -

MOOS - IVP - Mission Oriented Operating Suite - Interval Programming From MIT LAMSS - US Dedicated Software Platform for Autonomous Marine Vehicles http://oceanai.mit.edu/moos-ivp/pmwiki/pmwiki.php?n=Main.HomePage

University of Porto Also Offers similar packages for the Collaborative Autonomous Vehicle Framework https://lsts.fe.up.pt/toolchain/neptus

And many more sensor softwares connects together with the Navigation Software to perform the vehicle platform for Connecting all the sensors with the Vehicle Framework