相关论文: Path Following Model Predictive Control of a Coupl…

This paper addresses the problem of guidance and control of underwater vehicles. A multi-level control strategy is used to determine (1) outer-loop path-following commands and (2) inner-loop actuation commands. Specifically, a line-of-sight…

This paper presents a three-dimensional (3D) energy-optimal path-following control design for autonomous underwater vehicles subject to ocean currents. The proposed approach has a two-stage control architecture consisting of the setpoint…

This paper proposes a novel method for formation path following of multiple underactuated autonomous underwater vehicles. The method combines line-of-sight guidance with null-space-based behavioral control, allowing the vehicles to follow…

Motion control of underwater robotic vehicles is a demanding task with great challenges imposed by external disturbances, model uncertainties and constraints of the operating workspace. Thus, robust motion control is still an open issue for…

Navigation underwater traditionally is done by keeping a safe distance from obstacles, resulting in "fly-overs" of the area of interest. Movement of an autonomous underwater vehicle (AUV) through a cluttered space, such as a shipwreck or a…

Navigation of a team of autonomous underwater vehicles (AUVs) coordinated by an unmanned surface vehicle (USV) is efficient and reliable for deep ocean exploration. AUVs depart from and return to the USV after collaborative navigation, data…

This paper presents a fully data-driven control framework for autonomous underwater vehicles (AUVs) based on Data-Enabled Predictive Control (DeePC). The approach eliminates the need for explicit hydrodynamic modeling by exploiting measured…

Autonomous underwater vehicles (AUV) have become the de facto vehicle for remote operations involving oceanography, inspection, and monitoring tasks. These vehicles operate in different and often challenging environments; hence, the design…

In this paper, we investigate the problem of coordinated path following for fixed-wing UAVs with speed constraints in 2D plane. The objective is to steer a fleet of UAVs along the path(s) while achieving the desired sequenced inter-UAV arc…

This paper proposes the trajectory tracking problem between an autonomous underwater vehicle (AUV) and a mobile surface ship, both equipped with optical communication transceivers. The challenging issue is to maintain stable connectivity…

This survey examines recent sensor-based planning and control methods for Unmanned Underwater Vehicles (UUVs). In complex, uncertain underwater environments, UUVs require advanced planning and control strategies for effective navigation.…

Autonomous underwater vehicles (AUVs) are subject to various sources of faults during their missions, which challenges AUV control and operation in real environments. This paper addresses fault-tolerant trajectory tracking of autonomous…

In this paper, we consider the tracking of arbitrary curvilinear geometric paths in three-dimensional output spaces of unmanned aerial vehicles (UAVs) without pre-specified timing requirements, commonly referred to as path-following…

Autonomous underwater vehicles (AUVs) play a crucial role in surveying marine environments, carrying out underwater inspection tasks, and ocean exploration. However, in order to ensure that the AUV is able to carry out its mission…

Autonomous Underwater Vehicles (AUVs) encounter significant energy, control and navigation challenges in complex underwater environments, particularly during close-proximity operations, such as launch and recovery (LAR), where fluid…

Precise motion control of underactuated surface vessels is a crucial task in various maritime applications. In this work, we develop a nonlinear motion control strategy for surface vessels inspired by the pursuit guidance philosophy. Any…

This article presents an in-depth review of the topic of path following for autonomous robotic vehicles, with a specific focus on vehicle motion in two dimensional space (2D). From a control system standpoint, path following can be…

This paper presents the design, implementation, and flight test results of two novel 3D path-following guidance algorithms based on nonlinear model predictive control (MPC), with specific application to fixed-wing small uncrewed aircraft…

This paper addresses the three-dimensional path-following guidance problem for unmanned aerial vehicles under explicit actuator constraints. Unlike conventional approaches that assume unbounded control inputs or handle saturation…

Efficient trajectory generation in complex dynamic environments remains an open problem in the unmanned surface vehicle (USV). The perception of the USV is usually interfered with by the swing of the hull and the ambient weather, making it…