Can the BlueROV2 achieve simple path tracking?

General Discussion
1

Hi,

I have a bluerov2. I would like to know if it is necessary to use devices such as Doppler Velocity Log (DVL) and USBL when conducting a physical experiment on water surface path tracking to verify my algorithm? If these devices are not available, what other solutions are there to carry out my experiment?

Thanks for the help.

3

Thank you. I would like to know how to use the overhead camera for tracking in a controlled environment. Are there any specific plans?

4

Hi @884866 -
Welcome to the forums!
You’re definitely pushing the envelope with path tracking with a BlueROV2. I’d disagree with @clark598dahl - using onboard IMU and compass is not practical for estimating position, this has been discussed quite a lot, this comment sums things up well.

As for using a camera, if you pointed an Oak-D stereocamera at the bottom, or at a 45 degree angle, and used this extension, you may have success with station keeping and route following - however this is a new, beta solution that is still in development, and housing a camera like that in a way that doesn’t introduce distortion can be tricky!

5

Thank you. May I ask if there are any other feasible implementation plans? I don’t have the ability to purchase DVL and USBL.

6

Hi @884866 -
Unfortunately localization is quite challenging in the marine environment! If your vehicle can operate at the surface, the lowest cost option would be to fit the system with a GPS, and localize only when it has a clear view of the sky (not blocked by water…)