Minimum energy based fine motion control of underwater robots in the presence of thruster nonlinearity.

Aaron M. Hanai Hyun-Taek Choi Song K. Choi Junku Yuh

Published in: IROS (2003)

Keyphrases

motion control
mobile robot
autonomous robots
control system
physical constraints
robot control

autonomous navigation
information fusion
real robot
visual servoing
three dimensional
dynamic environments

robotic systems
multi robot
path planning
control algorithm
vision system
kinematic model

real time
field of view
mathematical model
multi view
computer vision