Analysis of coordination modes for multi-UUV based on Model Driven Architecture
Thierry Soriano, Hoang Anh Pham, Van Hien Ngo · 2018
The aim of the present work is to analyze coordination modes for multiplemultiple unmanned underwater vehicles (UUV) which are an open-source and low-cost platform based on the Model Driven Architecture approach. The medium-term goal should be to transform an existing remote control system into an autonomous control system capable of multiple missions. Specially, we describe the general re-engineering process in the use-case of a coordination of two UUVs. The abstract model is studied and verified based on Matlab/Simulink. Furthermore, we propose a framework, which is able to support the development towards the real platform thanks to Robot Operating System (ROS) middleware and Gazebo simulator.