https://github.com/elymsyr/auv_ws
An open-source simulation and control workspace for an Autonomous Underwater Vehicle (AUV) built on ROS 2 Humble and Gazebo. It features a high-fidelity dynamics model and an advanced AI-based motion controller (FossenNet) that uses a pre-trained LibTorch model to imitate a NL-MPC for real-time, high-performance manoeuvring.
https://github.com/elymsyr/auv_ws
autonomous-vehicles auv control-systems cpp cuda deep-learning gazebo imitation-learning libtorch mpc python robotics ros2 simulation
Last synced: 2 months ago
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An open-source simulation and control workspace for an Autonomous Underwater Vehicle (AUV) built on ROS 2 Humble and Gazebo. It features a high-fidelity dynamics model and an advanced AI-based motion controller (FossenNet) that uses a pre-trained LibTorch model to imitate a NL-MPC for real-time, high-performance manoeuvring.
- Host: GitHub
- URL: https://github.com/elymsyr/auv_ws
- Owner: elymsyr
- License: apache-2.0
- Created: 2025-08-15T12:13:49.000Z (10 months ago)
- Default Branch: main
- Last Pushed: 2025-08-28T16:07:06.000Z (10 months ago)
- Last Synced: 2025-08-28T23:08:41.252Z (10 months ago)
- Topics: autonomous-vehicles, auv, control-systems, cpp, cuda, deep-learning, gazebo, imitation-learning, libtorch, mpc, python, robotics, ros2, simulation
- Language: C++
- Homepage: https://github.com/elymsyr
- Size: 27 MB
- Stars: 0
- Watchers: 0
- Forks: 0
- Open Issues: 0
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Metadata Files: