Model Predictive Control for an Autonomous Underwater Robot with Fully Vectored Propulsion
Tianzhu Gao,Yudong Luo,Chao Lv,Weirong Luo,Xianping Fu,Na Zhao,Xi Luo,Yantao Shen,Tianzhu Gao,Yudong Luo,Chao Lv,Weirong Luo,Xianping Fu,Na Zhao,Xi Luo,Yantao Shen
Due to the low motion efficiency and maneuver-ability of underwater robots with six degrees of freedom, it is challenging for them to respond quickly to the attitude requirements during underwater autonomous manipulation. This paper presents a novel autonomous underwater robot with fully vectored propulsion and a model predictive control method to achieve more agile and efficient movements autonom...
