usv gazebo dynamic plugin
http://wiki.ros.org/usv_gazebo_plugins
We are analyzing the parameters in the plug-in through the link above. Looking at this, I wonder if there are any reference materials or papers on how variables such as xDotU and xDotV work and where they originate. There is no such explanation in the theory of operation here on the wiki.
Asked by huhahaha on 2022-12-23 00:50:10 UTC
Answers
I found some by seeking after the words surge/sway direction + usv, where a certain set of assumptions about UAVs gives you a 3-DOF (surge, sway, and yaw) simplified mathematical model.
- Design of autopilot control system on unmanned surface vehicle type
Unmanned Surface Vehicle Simulator with Realistic Environmental Disturbances
Design and validation of an unmanned surface vehicle simulation model
Asked by ljaniec on 2022-12-24 18:10:45 UTC
Comments
This appears to have been cross-posted to osrf/vrx#559.
Let's give the maintainers there some time to answer -- seeing as it's Christmas in large parts of the world.
Asked by gvdhoorn on 2022-12-26 02:54:03 UTC