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Talk-28: iRobot Secondary Controller MOOS Interface
Mark Morris, iRobot
A MOOS secondary controller interface is presented which facilitates the integration of payloads and behaviors with iRobot research AUVs. iRobot has developed a Helm module that is focused on simplicity of control by a payload. Using iRobot's secondary controller interface to send behavior requests to our Helm, our partners have demonstrated various capabilities on several low-cost vehicle designs running MOOS.
Results from these demonstrations are presented along with the secondary controller messages that comprise the interface. Using iRobot's Matlab vehicle motion simulator "Fishtank", a vehicle is shown responding to these secondary controller commands.
Related Material:
Categories:
- Autonomy
- UUVs
- Industry
- Octave/Matlab
- Simulation