Obstacle-aided Locomotion for Underwater Snake Robot using Monte Carlo Model Predictive Control and Curvature Derivative Control.
Yiping QiuHisashi DatePublished in: SICE (2023)
Keyphrases
- monte carlo
- model predictive control
- mobile robot
- predictive control
- robot control
- control system
- robotic systems
- legged robots
- autonomous robots
- importance sampling
- monte carlo simulation
- robot motion
- markov chain
- rough terrain
- central pattern generator
- particle filter
- monte carlo tree search
- quadruped robot
- robot moves
- path planning
- monte carlo methods
- neuro fuzzy
- adaptive sampling
- vision system
- robot behavior
- legged locomotion
- point processes
- variance reduction
- real time
- mpc algorithm
- control strategy
- markovian decision
- multiple models
- matrix inversion
- inverted pendulum
- optimal control
- closed loop
- kalman filter
- least squares
- genetic algorithm