TUHH - Uni Hamburg Project

TUHH Formulas and Vehicles’s documentation!

Assigment-2 ->

Performance of a simple PID Controller for controlling the depth of an underwater vehicle. Build a controller algorithm for AUV and track desired setpoints.

• Detailed task description

• Report

Assigment-3 -> Wet Whale: Hey, where am I??

Build a localization algorithm based on a range to tags in the tank.

Developed methods

1. Least Squared Estimation (LSE).
2. LSE + KF.
3. EKF

• Task Description

• Report

• Poster for first 2 Assigment

Final Project -> Wet Whale: Rescue mode engaged

Developed Algorithms

1. Path Planning - online A* Algorithm
2. Controller - 4 dof PID
3. Airtags Detector in order to map the tank
4. Person Recognition with YOLO

• Detailed task description and Presentation
• Poster for first 2 Assigment

References

• KF / EKF
• A* Algorithm
• HippoCampus