Getting Started
Installation
15 minSet up the development environment, install dependencies, and configure ROS2 workspace.
Hardware Setup
30 minConnect sensors, configure communication interfaces, and verify hardware connections.
First Mission
45 minExecute your first autonomous mission with basic waypoint navigation.
Navigation
Sensor Fusion Basics
60 minLearn to combine IMU, DVL, and depth sensor data using the Extended Kalman Filter.
Acoustic Positioning
90 minConfigure USBL/LBL acoustic positioning for absolute position updates.
SLAM Integration
120 minImplement simultaneous localization and mapping using sonar data.
Control Systems
PID Tuning Guide
45 minStep-by-step guide to tuning depth and heading PID controllers.
Path Following
60 minImplement pure pursuit and line-of-sight path following algorithms.
MPC Implementation
90 minAdvanced model predictive control for optimal trajectory tracking.
Simulation
Gazebo Setup
45 minSet up Gazebo simulation environment with UUV world and hydrodynamic plugins.
Unity Visualization
60 minCreate high-fidelity 3D visualization for mission monitoring and playback.
Featured: Complete System Integration
This comprehensive tutorial covers the complete workflow from hardware assembly to autonomous mission execution. Perfect for those who want a complete understanding of the Mini-UUV system.