Autonomous Underwater Docking using Flow State Estimation and Model Predictive Control
Rakesh Vivekanandan,Dongsik Chang,Geoffrey A. Hollinger,Rakesh Vivekanandan,Dongsik Chang,Geoffrey A. Hollinger
We present a navigation framework to perform autonomous underwater docking to a wave energy converter (WEC) under various ocean conditions by incorporating flow state estimation into the design of model predictive control (MPC). Existing methods lack the ability to perform dynamic rendezvous and autonomously dock in energetic conditions. The use of exteroceptive sensors or high performing acoustic...
