No version for distro humble. Known supported distros are highlighted in the buttons above.
No version for distro jazzy. Known supported distros are highlighted in the buttons above.
No version for distro rolling. Known supported distros are highlighted in the buttons above.

Package Summary

Tags No category tags.
Version 0.0.0
License MIT
Build type AMENT_CMAKE
Use RECOMMENDED

Repository Summary

Checkout URI https://github.com/vortexntnu/vortex-auv.git
VCS Type git
VCS Version main
Last Updated 2025-04-04
Dev Status UNMAINTAINED
CI status No Continuous Integration
Released UNRELEASED
Tags No category tags.
Contributing Help Wanted (0)
Good First Issues (0)
Pull Requests to Review (0)

Package Description

LOS Guidance modual for guidance of AUV

Additional Links

No additional links.

Maintainers

  • talhanc

Authors

No additional authors.

ALSO Guidance Law for 3D Path Following

The guidance law gives calculates the desired heading angle $\psi_d$ and desired pitch angle $\theta_d$. The crab angles $\beta_c$ and $\alpha_c$ are estimated adaptively. The guidance law looks like

\psi_d = \pi_h - \hat{\beta}_c - \tan^{-1}\left(\frac{y_e^p}{\Delta_h}\right)


\dot{\hat{\beta}}_c = \gamma_h \frac{\Delta_h}{\sqrt{\Delta_h^2 + (y_e^p)^2}} y_e^p

\theta_d = \pi_v + \hat{\alpha}_c + \tan^{-1}\left(\frac{z_e^p}{\Delta_v}\right)

\dot{\hat{\alpha}}_c = \gamma_v \frac{\Delta_v}{\sqrt{\Delta_v^2 + (z_e^p)^2}} z_e^p

where

  • $\Delta_h$ is the horizontal lookahead distance
  • $\Delta_v$ is the vertical lookahead distance
  • $\gamma_h$ and $\gamma_v$ are the adaptive gains
  • $y_e^p$ is the cross-track error
  • $z_e^p$ is the vertical-track error

The azimuth angle $\pi_v$ and the elevation angle $\pi_h$ can be found by

\pi_h = \text{atan2}(y_{i+1}^n - y_i^n, x_{i+1}^n, - x_i^n)

\pi_v = \text{atan2}(-(z_{i+1}^n - z_i^n), \sqrt{(x_{i+1}^n - x_i^n)^2 + (y_{i+1}^n - y_i^n)^2})

where $P_i^n = (x_i^n, y_i^n, z_i^n)$ is the previous waypoint in the north-east-down frame and $P_{i+1}^n = (x_{i+1}^n, y_{i+1}^n, z_{i+1}^n)$ is the next waypoint in north-east-down frame.

The along-, cross- and vertical-track errors in the path-tangential frame are found by

\begin{bmatrix}
x_e^p \\ y_e^p \\ z_e^p
\end{bmatrix} = \mathbf{R}_{y, \pi_v}^\top \mathbf{R}_{z, \pi_h}^\top \left( \begin{bmatrix}
x^n \\ y^n \\ z^n
\end{bmatrix} - \begin{bmatrix}
x_i^n \\ y_i^n \\ z_i^n
\end{bmatrix}
\right)

where $P^n = (x^n, y^n, z^n)$ is the current position of the drone.

CHANGELOG
No CHANGELOG found.

Wiki Tutorials

This package does not provide any links to tutorials in it's rosindex metadata. You can check on the ROS Wiki Tutorials page for the package.

Package Dependencies

System Dependencies

Name
eigen

Dependant Packages

No known dependants.

Launch files

No launch files found

Messages

No message files found.

Services

No service files found

Plugins

No plugins found.

Recent questions tagged los_guidance at Robotics Stack Exchange

No version for distro noetic. Known supported distros are highlighted in the buttons above.
No version for distro ardent. Known supported distros are highlighted in the buttons above.
No version for distro bouncy. Known supported distros are highlighted in the buttons above.
No version for distro crystal. Known supported distros are highlighted in the buttons above.
No version for distro eloquent. Known supported distros are highlighted in the buttons above.
No version for distro dashing. Known supported distros are highlighted in the buttons above.
No version for distro galactic. Known supported distros are highlighted in the buttons above.
No version for distro foxy. Known supported distros are highlighted in the buttons above.
No version for distro iron. Known supported distros are highlighted in the buttons above.
No version for distro lunar. Known supported distros are highlighted in the buttons above.
No version for distro jade. Known supported distros are highlighted in the buttons above.
No version for distro indigo. Known supported distros are highlighted in the buttons above.
No version for distro hydro. Known supported distros are highlighted in the buttons above.
No version for distro kinetic. Known supported distros are highlighted in the buttons above.
No version for distro melodic. Known supported distros are highlighted in the buttons above.