Kinematic control of an Autonomous Underwater Vehicle-Manipulator System (AUVMS) using autoregressive prediction of vehicle motion and Model Predictive Control.
Jonathan WoolfreyDikai LiuMarc CarmichaelPublished in: ICRA (2016)
Keyphrases
- autoregressive
- model predictive control
- autonomous underwater vehicle
- control system
- end effector
- inverse kinematics
- moving average
- parallel manipulator
- motion control
- predictive control
- kinematic model
- degrees of freedom
- robot manipulators
- mpc algorithm
- non stationary
- control scheme
- vision system
- motion planning
- gaussian markov random field
- control law
- prediction accuracy
- dynamic model
- random fields
- control method
- closed loop
- position and orientation
- visual servoing
- control strategy
- joint angles
- control algorithm
- real time
- motion estimation
- path planning
- physical constraints
- gray level
- markov random field
- trajectory tracking
- image sequences
- sar images
- human motion
- maximum entropy
- pose estimation
- mobile robot
- multiscale
- neural network