ROV and its LQR implementation
A few years ago, Combine purchased a small submarine. This vehicle is connected to a workstation with a long ethernet cable and is known as a ROV (remotely operated underwater vehicle). During several projects, some degree of autonomous capability has been added to the vehicle, and we are planning to turn it into a fully AUV (autonomous underwater vehicle) in the future. Students from Linköping University have performed most of the developing work and the ROV has been the focus of both master’s theses and project courses. At this moment, we have eight students working on creating a digital twin with an associated simulation environment. The plan is to make the software development as efficient as possible, removing the drawback of needing a pool for every test. The ROV is also an excellent platform to show interested people how to work with model-based development and how to set up HIL (hardware-in-the-loop) testing.