Nonlinear model predictive control for hydrobatics: Experiments with an underactuated AUV.
Sriharsha Vishnu BhatChariklia PanteliIvan SteniusDimos V. DimarogonasPublished in: J. Field Robotics (2023)
Keyphrases
- nonlinear model predictive control
- image based visual servoing
- dynamic model
- autonomous underwater vehicle
- mechanical systems
- computationally efficient
- receding horizon
- motion planning
- situational awareness
- visual servoing
- autonomous underwater vehicles
- experimental data
- mpc algorithm
- degrees of freedom
- steady state
- mobile robot
- real time
- control algorithm
- optimal linear
- path planning